Determination of (in)activity periods when monitoring human body motion is a mandatory preprocessing step in all human inertial navigation and position analysis applications. Distinction of (in)activity needs to be established in order to allow the system to recompute the calibration parameters of the inertial sensors as well as the Zero Velocity Updates (ZUPT) of inertial navigation. The perio...

This paper presents an approach for modeling an inertial navigation system. This system consists of a 3D acceleration and rotation sensor array, analog and digital error correction, gravitation compensation, supporting point extraction, serial interface and software application. Analogue interfaces are described on lowest abstraction level to allow easy exchange and refinement of components. Mo...

In this paper, a simulation is used to examine the sensitivity of enhanced laser-guided bombs to errors in the navigation system of the delivery aircraft. Three possible weapon configurations are considered: a laser-guided bomb with an autonomous inertial navigation system, a laserguided bomb with a loosely-coupled inertial navigation system and global positioning system, and a standard laser-g...

The purpose of this study was to improve the accuracy of real-time ego-motion tracking through inertial sensor and vision sensor fusion. Due to low sampling rates supported by web-based vision sensor and accumulation of errors in inertial sensors, ego-motion tracking with vision sensors is commonly afflicted by slow updating rates, while motion tracking with inertial sensor suffers from rapid d...

We consider a left-invariant dynamics on an arbitrary Lie group. We show that it is possible, when the output map is right-left equivariant, to build non-linear observers such that the error equation is autonomous. The theory is illustrated by an inertial navigation example.

The purpose of this study is to clarify the advantages and disadvantages of acceleration measurements in cross country skiing using a body mounted kinematical inertial measurement system. A high profile world cup athlete performed two test-runs in diagonal stride technique on skis and roller skies equipped with an inertial measurement system. In particular the acceleration of the athlete’s cent...

In horse back riding the rider’s kinematics was usually measured through visual observation. Today, 3D optical motion capture on treadmills is the golden standard method. However, there are differences between the horse’s treadmill locomotion and the overground locomotion. The aim of this study was to investigate and compare the motion of the rider’s pelvis in walk, trot, and canter under field...

We consider a left-invariant dynamics on an arbitrary Lie group. We show that it is possible, when the output map is compatible with right multiplications, to build non-linear observers such that the error equation is autonomous. The theory is illustrated by an inertial navigation example. Index Terms Lie group, symmetries, invariance, nonlinear asymptotic observers, inertial navigation.