* This work is supported by EU-IST-2001-34401 VAMPIRE. Abstract – Within a hybrid vision / inertial tracking system proper calibration of the sensors and their relative pose is essential. We present a new method for 3-axis inertial sensor calibration based on model fitting and a method to find the rotation between vision and inertial system based on rotation differences. We achieve a coordinate...

This paper describes the design, operation, and test results of a miniature, low cost integrated GPS/inertial navigation system that uses commercial off-the-shelf Micro-Electro-Mechanical System (MEMS) accelerometers and gyroscopes. The MEMS inertial measurement unit (IMU) is packaged in a small size and provides the raw IMU data through a serial interface to a processor board where the inertia...

2.1 Principles of Inertial Sensors A coordinate system must be defined prior to deployment of an inertial sensor for body motion measurement. If the origin of a moving coordinate system has acceleration (A0) and rotates with a gyroscopic angular velocity (ω), and if a mass (m) has the position vector (r0) and the velocity (u0) with respect to the moving coordinate system, then the inertial forc...

Intermittent loss of the GPS signal is a common problem encountered in intelligent land navigation based on GPS integrated inertial systems. This issue emphasizes the need for an alternative technology that would ensure smooth and reliable inertial navigation during GPS outages. This paper presents the results of an effort where data from vision and inertial sensors are integrated. However, for...

This study aims at determining the accuracy of a full body inertial measurement system in a real skiing environment in comparison with an optical video based system. Recent studies have shown the use of inertial measurement systems for the determination of kinematical parameters in alpine skiing. However, a quantitative validation of a full body inertial measurement system for the application i...

Guidance of aerial systems is generally based upon inertial navigation sensors and Global Positioning System. Inertial navigation sensors are assumed accurate and reliable for short duration of flights. Error of inertial navigation sensors accumulates and ultimately drifts from actual position increases with flight duration. On the other hand, Global Positioning System (GPS) is independent of f...

This paper describes the design, operation and performance test results of a miniature, low cost integrated GPS/inertial navigation system (INS) designed for use in UAV or UGV guidance systems. The system integrates a miniaturized commercial GPS with a low grade Micro-Electro-Mechanical (MEMS) inertial measurement unit (IMU). The MEMS IMU is a small self-contained package (< 1 cu inch) and incl...

This paper provides an overview of the primary strapdown inertial system computational elements and their interrelationship. Using an aircraft type strapdown inertial navigation system as a representative example, the paper provides differential equations for attitude, velocity, position determination, associated integral solution functions, and representative algorithms for system computer imp...

We introduce the inertial-DNF (iDNF) model, an expansion of the dynamic neural filter (DNF) model, a model generating spatiotemporal patterns similar to those observed in the locust antennal lobes (ALs). The DNF model, which was described in previous works, includes one temporal scale defining the discrete dynamics inherent to the model. It lacks a second, slow, temporal scale that exists in th...