The application of low-cost L1 GPS receivers integrated with micro-electro-mechanical system (MEMS) inertial measurement units (IMU) allows the continuous observation of position, velocity and orientation which opens new possibilities for comparison of athletes’ performance throughout a racecourse. In this paper, we compare loosely and closely coupled integration strategies under realistic raci...

Sensor calibration is a fundamental step for improving the performance in sensor fusion, aim of which to spatially and temporally register sensors with respect each other. This paper presents high-accuracy autocalibration method estimate extrinsic parameters between LiDAR an IMU. LiDAR/IMU challenging task since raw measurements are distorted, biased, noisy, asynchronous. Our approach adopts co...

This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that vehicle is equipped an Inertial Measurement Unit (IMU) providing body-frame measurements angular velocity, specific force, and Earth’s magnetic field. Moreover, we consider available sensors provide partial or information about position vehicle. Examples such are those...

The article deals with a progressive approach in gait sensing. It is incorporated by IMU (Inertia Measurement Unit) complex sensors whose field of acting is mainly the motion sensing in medicine, automotive and other industry, self-balancing systems, etc. They allow acquiring the position and orientation of an object in 3D space. Using several IMU units the sensing array for gait dynamics was m...

This note develops a technique for designing diagonalizing compensators based on state-space descriptions. The relationship with stable decoupling invariants is also explored. @ 1997 Elsevier Science B.V.

As various inertial measurement units (IMUs) from different manufacturers appear every year, it is not affordable to evaluate every IMU through tests. Therefore, this paper presents an IMU evaluation method by grafting data from the tested IMU to the reference data from a higher-grade IMU. The signal grafting (SG) method has several benefits: (a) only one set of field tests with a higher-grade ...

This paper introduces a positioning system for walking persons, called “Personal Dead-reckoning” (PDR) system. The PDR system does not require GPS, beacons, or landmarks. The system is therefore useful in GPS-denied environments, such as inside buildings, tunnels, or dense forests. Potential users of the system are military and security personnel as well as emergency responders. The PDR system ...

Omnidirectional cameras are versatile sensors that are able to provide a full 360-degree view of the environment. When combined with inertial sensing, omnidirectional vision offers a potentially robust navigation solution. However, to correctly fuse the data from an omnidirectional camera and an inertial measurement unit (IMU) into a single navigation frame, the 6-DOF transform between the sens...

This study examined the reliability and validity of an inertial measurement unit (IMU) for measuring orientation angle. An IMU was mounted onto a goniometer and moved through 0-90° with data collected at 10° increments. The process was repeated 10 times for all 3 axes. Reliability was measured via a typical error (TE) analysis from the 10 repeated trials. Validity was determined via a Pearson c...

This paper deals with the diagnostic design of an Inertial Measurement Unit (IMU). IMU are widely used for system positioning. Their goal is to sense the attitude (or orientation) of a rigid body on which the IMU is embedded. In this paper, the sensors used in the IMU are a tri-axis accelerometer, a tri-axis magnetometer and 3 rate gyros. The diagnostic method proposed in this paper is independ...