Small fixed-wing UAS that are able to hover combine the station keeping abilities of a rotary wing platform and the extended range of conventional aircraft. Current autopilots for these vehicles rely on inertial measurements plus airspeed to transition from forward flight to hover, accumulating appreciable position error during the transition. Once in hover, a combination of inertial and GPS da...

Accurate knowledge of position and orientation is a prerequisite for many applications regarding unmanned navigation, mapping, or environmental modelling. GPS-aided inertial navigation is the preferred solution for outdoor applications. Nevertheless a similar solution for navigation tasks in difficult environments with erroneous or no GPS-data is needed. Therefore a stereo vision aided inertial...

Inertial sensors are widely used in various applications, such as human motion monitoring and pedestrian positioning. However, inertial sensors cannot accurately define the process of human movement, a limitation that causes data drift in the process of human body positioning, thus seriously affecting positioning accuracy and stability. The traditional pedestrian dead-reckoning algorithm, which...

A specific form of the inertial law is presented by which we can gain a deeper insight into the essence of mass and inertia. In this modified theory, there is no need to keep the concept of absolute space and Newton's third law as principles, By introducing a convenient form for gravitational law the coupling constant G becomes a function of inertial parameters of the universe

A pedestrian tracking system using inertial sensors mounted on both feet is presented. Significant accuracy improvements are demonstrated, compared to single shoe tracking, by using sonar foot-to-foot range measurements to constrain heading drift. A single complementary Kalman filter fuses data from both inertial measurement units and the sonar sensor. The system is composed of commercial and c...

We present a technique to fuse inertial and visual information for real-time navigation applications. The combined model exhibits bounded bias, autocalibrates the camera-to-IMU transformation (eliminating the need for precise measurement or construction), and updates an estimate of the gravity vector. We analyze of the observability of the combined system, and discuss the implementation of a fi...

2 A Prototype of An Inertial System In mobile systems the position and attitude of active vision system's cameras can be hard t o determine. Inertial sensors coupled t o the active viston sys tem can provide valuable information, as happens with the An inertial system prototype was built using lowcost inertial sensors. These include a three-axial accelerometer, three gyroscopes and a dual-axis ...

The design and construction of instrumentation systems require a broad background in many disciplines. The system design in this paper was further complicated by the subject of the measurement. Attempting to measure the bending forces on a rotating shaft is difficult in the extreme. We believe that the approach taken in the design of this Instrumentation and Measurement System is unique and has...

We in this paper introduce a real-time human arm movement tracking system that can be used to aid the rehabilitation of stroke patients. A 3-axis inertial sensor is used to capture arm movements in 3-D space and in real time. The tracking algorithm is based on a kinematical model that just considers the human forearms at this stage. To improve accuracy and consistency, a Lagrangian based filter...