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1
Grzybowská, Martina. "Human Mo-cap System Based on Inertial Measurement Units." Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2021. http://www.nusl.cz/ntk/nusl-445474.
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Cieľom tejto práce je navrhnúť, zhotoviť a implementovať vlastný systém pre zachytávanie pohybu založený na inerciálnych meracích jednotkách. V rámci budovania teoretického základu bolo preskúmaných viacero metód, avšak primárne bola pozornosť venovaná samotnému inerciálnemu snímanu - jeho kladom a nedostatkom, kľúčovým vlastnostiam a jednotlivým komponentom potrebným pre zostrojenie systému na jeho báze. Tento úvodný zber informácií je nasledovaný fázami návrhu, zhotovenia a zhodnotenia, ktoré sa zaoberajú procesom vývoja a testovania daného riešenia. Hlavným prínosom realizácie systému je zostrojenie zariadení pre snímanie pohybu - jedná sa o malé, ľahké, batériovo napájané zariadenia, ktoré sú kompletne bezdrôtové, či už z hľadiska komunikácie s okolitým svetom, alebo vďaka napájaniu kompatibilnému so štandardom Qi.
2
Cinarel, Dilara. "Vibration Isolation Of Inertial Measurement Unit." Master's thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12614069/index.pdf.
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Sensitive devices are affected by extreme vibration excitations during operation so require isolation from high levels of vibration excitations. When these excitation characteristics of the devices are well known, the vibration isolation can be achieved accurately. However, it is possible to have expected profile information of the excitations with respect to frequency. Therefore, it is practical and useful to implement this information in the design process for vibration isolation.
In this thesis, passive vibration isolation technique is examined and a computer code is developed which would assist the isolator selection process. Several sample cases in six degree of freedom are designed for a sample excitation and for sample assumptions defined for an inertial measurement unit. Different optimization methods for design optimizations are initially compared and then different designs are arranged according to the optimization results using isolators from catalogues for these sample cases.
In the next step, the probable designs are compared according to their isolator characteristics. Finally, one of these designs are selected for each case, taking into account both the probable location deviations and property deviations of isolators.
3
Kiran, Sai. "An inertial measurement unit interface and processing system synchronized to global positioning system time." Ohio University / OhioLINK, 1998. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1176489175.
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Aisen, Benjamin Baruch. "An inertial measurement-based gait detection system for active leg prostheses." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/41744.
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Thesis (S.M.)--Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2007.Includes bibliographical references (leaves 45-46).
Active leg prostheses can lead to more natural and less energy consuming gait patterns for amputees than passive prostheses can, because they provide a better approximation of the functions of the human leg. Active prostheses use motors to supply torques for added force and greater control at the joints (replacing the functions of normal limb musculature). The necessary amount of torque to apply must be closely correlated with gait characteristics. To properly control an active prosthesis, it is necessary to determine whether one is walking at a stable or varying velocity, on level ground, stairs, or a hill or ramp, and in the latter cases whether one is ascending or descending. In all cases, it is essential to detect transitions between gaits as early as possible, ideally before the foot makes contact with the ground, in order for the control system to adjust accordingly. In this thesis, a sensor system for a lower leg prosthesis is described, and a method for determining the gait transitions from this system are presented. The sensor system consists of an inertial measurement unit comprising three accelerometers and three rate gyroscopes installed on the prosthetic limb and a set of strain gauges on the limb to detect changes in force. Using this instrumented prosthesis, data are collected while an amputee participant transitions from level ground to stair ascent/descent. These data are then processed using an intent recognition method based on a hybrid discrete-continuous physical model of human walking. This method is evaluated for accuracy and robustness for real-time use.
by Benjamin Baruch Aisen.
S.M.
5
O-larnnithipong, Nonnarit. "Hand Motion Tracking System using Inertial Measurement Units and Infrared Cameras." FIU Digital Commons, 2018. https://digitalcommons.fiu.edu/etd/3905.
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This dissertation presents a novel approach to develop a system for real-time tracking of the position and orientation of the human hand in three-dimensional space, using MEMS inertial measurement units (IMUs) and infrared cameras. This research focuses on the study and implementation of an algorithm to correct the gyroscope drift, which is a major problem in orientation tracking using commercial-grade IMUs. An algorithm to improve the orientation estimation is proposed. It consists of: 1.) Prediction of the bias offset error while the sensor is static, 2.) Estimation of a quaternion orientation from the unbiased angular velocity, 3.) Correction of the orientation quaternion utilizing the gravity vector and the magnetic North vector, and 4.) Adaptive quaternion interpolation, which determines the final quaternion estimate based upon the current conditions of the sensor.
The results verified that the implementation of the orientation correction algorithm using the gravity vector and the magnetic North vector is able to reduce the amount of drift in orientation tracking and is compatible with position tracking using infrared cameras for real-time human hand motion tracking. Thirty human subjects participated in an experiment to validate the performance of the hand motion tracking system. The statistical analysis shows that the error of position tracking is, on average, 1.7 cm in the x-axis, 1.0 cm in the y-axis, and 3.5 cm in the z-axis. The Kruskal-Wallis tests show that the orientation correction algorithm using gravity vector and magnetic North vector can significantly reduce the errors in orientation tracking in comparison to fixed offset compensation. Statistical analyses show that the orientation correction algorithm using gravity vector and magnetic North vector and the on-board Kalman-based orientation filtering produced orientation errors that were not significantly different in the Euler angles, Phi, Theta and Psi, with the p-values of 0.632, 0.262 and 0.728, respectively.
The proposed orientation correction algorithm represents a contribution to the emerging approaches to obtain reliable orientation estimates from MEMS IMUs. The development of a hand motion tracking system using IMUs and infrared cameras in this dissertation enables future improvements in natural human-computer interactions within a 3D virtual environment.
6
Jayawardene, Kanishka. "A human head motion monitoring system based on an inertial measurement unit." Thesis, McGill University, 2012. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=110713.
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This thesis describes the design and implementation of a human head motion monitoring system based on an inertial measurement unit. The system is to be used by physicians to characterize the head motion when engaging in day-to-day activities before and after corrective surgery is performed on the vestibular system. This system is also to be used by personnel in sports medicine to compare performance between athletes and by coaches to help athletes improve their techniques.The design is implemented using an inertial measurement unit with an accelerometer, a gyroscope, and a magnetometer. Data can be logged on an onboard micro-SD card while transmitting data and receiving commands wirelessly. In doing so, several signal processing techniques such as finite impulse response filters and sensor fusion using Kalman filters are presented. All sensors are calibrated to ensure accuracy and reliability. In addition, this thesis focuses on pattern recognition techniques based on the Bayesian classification method to distinguish different daily activities of users.Cette thèse décrit la conception et le développement d'une système d'enregistrement des mouvements de la tête reposant sur une unité de mesure inertielle. Le système doit être utilisé par des médecins pour caractériser les mouvements de tête avant et après une chirurgie correctrice effectuée sur le système vestibulaire alors que le patient est engagé dans ses activités journalières. Ce système doit également être utilise en médecine du sport afin de comparer les performances entre athlètes et les entraîneurs pour aider les athlètes à améliorer leurs techniques.Le système comprend une unité de mesure inertielle avec un accéléromètre trois axes, un gyroscope et un magnétomètre. Les données peuvent être enregistrées sur une carte micro-SD lors de la transmission de données et recevoir des commandes sans fil. Ce faisant, plusieurs techniques de traitement du signal tels que des filtres à réponse impulsionnelle finie et la fusion de signaux en utilisant des filtres de Kalman sont présentés. Tous les capteurs sont étalonnés pour garantir l'exactitude absolue. De plus, cette thèse se concentre sur les techniques de reconnaissance de forme basée sur la méthode de classification Bayesienne pour distinguer les différents activités quotidiennes des utilisateurs.
7
Venable, Donald T. "Implementation of a 3D Imaging Sensor Aided Inertial Measurement Unit Navigation System." Ohio University / OhioLINK, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1218764810.
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Every, Joshua Lee. "Mechanical Design and Dynamic Analysis of a Large Vehicle Inertial Measurement System." The Ohio State University, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=osu1354201048.
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Mathur, Navin G. "Feasibility of using a low-cost inertial measurement unit with centimeter accuracy differential global positioning system." Ohio University / OhioLINK, 1999. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1181173720.
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Newlin, Michael Linton Hung John Y. Bevly David M. "Design and development of a GPS intermediate frequency and IMU data acquisition system for advanced integrated architectures." Auburn, Ala., 2006. http://repo.lib.auburn.edu/2006%20Fall/Theses/NEWLIN_MICHAEL_7.pdf.
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Hanning, Gustav. "Video Stabilization and Rolling Shutter Correction using Inertial Measurement Sensors." Thesis, Linköpings universitet, Datorseende, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-68792.
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Most mobile video-recording devices of today, e.g. cell phones and music players, make use of a rolling shutter camera. A rolling shutter camera captures video by recording every frame line-by-line from top to bottom of the image, leading to image distortions in situations where either the device or the target is moving. Recording video by hand also leads to visible frame-to-frame jitter. In this thesis, methods to decrease distortion caused by the motion of a video-recording device with a rolling shutter camera are presented. The methods are based on estimating the orientation of the camera from gyroscope and accelerometer measurements. The algorithms are implemented on the iPod Touch 4, and the resulting videos are compared to those of competing stabilization software, both commercial and free, in a series of blind experiments. The results from this user study shows that the methods presented in the thesis perform equal to or better than the others.Mobiltelefoner, mp3-spelare och andra bärbara enheter som kan spela in film har ofta en kamera med rullande slutare. En sådan kamera fångar varje bild rad för rad, från topp till botten. Detta resulterar i distortion i bilden om antingen enheten eller objekt i bilden rör sig. Att filma för hand introducerar också skakighet i filmen. I det här examensarbetet presenteras metoder för att minska den distortion som uppstår till följd av att en enhet med rullande slutare förflyttas under inspelning av en film. Metoderna bygger på estimering av kamerans orientering, utgående från mätdata från gyroskop och accelerometer. Algoritmerna har implementerats på en iPod Touch 4 och de resulterande filmerna har jämförts med de från konkurrerande program i en serie blindtester. Resultaten från denna undersökning visar att metoderna som presenteras i examensarbetet är lika bra eller bättre än de övriga.
12
Tundo, Marco D. "Development of a Human Activity Recognition System Using Inertial Measurement Unit Sensors on a Smartphone." Thèse, Université d'Ottawa / University of Ottawa, 2014. http://hdl.handle.net/10393/30963.
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Monitoring an individual’s mobility with a modern smartphone can have a profound impact on rehabilitation in the community.
The thesis objective was to develop and evaluate a third-generation Wearable Mobility Monitoring System (WMMS) that uses features from inertial measurement units to categorize activities and determine user changes-of-state in daily living environments. A custom suite of MATLAB® software tools were developed to assess the previous WMMS iteration and aid in third-generation WMMS algorithm construction and evaluation.
A rotation matrix was developed to orient smartphone accelerometer components to any three-dimensional reference, to improve accelerometer-based activity identification. A quaternion-based rotation matrix was constructed from an axis-angle pair, produced via algebraic manipulations of acceleration components in the device’s body-fixed reference frame.
The third-generation WMMS (WMMS3) evaluation was performed on fifteen able-bodied participants. A BlackBerry Z10 smartphone was placed at a participant’s pelvis, and the device was corrected in orientation. Acceleration due to gravity and applied linear acceleration signals on a BlackBerry Z10 were then used to calculate features that classify activity states through a decision tree classifier. The software tools were then used for offline data manipulation, feature generation, and activity state prediction.
Three prediction sets were conducted. The first set considered a “phone orientation independent” mobility assessment of a person’s mobile state. The second set differentiated immobility as sit, stand, or lie. The third prediction set added walking, climbing stairs, and small standing movements classification. Sensitivities, specificities and -Scores for activity categorization and changes-of-state were calculated.
The mobile versus immobile prediction set had a sensitivity of 93% and specificity of 97%, while the second prediction set had a sensitivity of 86% and specificity of 97%. For the third prediction set, the sensitivity and specificity decreased to 84% and 95% respectively, which still represented an increase from 56% and 88% found in the previous WMMS.
The third-generation WMMS algorithm was shown to perform better than the previous version in both categorization and change-of-state determination, and can be used for rehabilitation purposes where mobility monitoring is required.
13
Leccadito, Matthew. "A Kalman Filter Based Attitude Heading Reference System Using a Low Cost Inertial Measurement Unit." VCU Scholars Compass, 2013. http://scholarscompass.vcu.edu/etd/3189.
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This paper describes, the development of a sensor fusion algorithm-based Kalman lter ar- chitecture, in combination with a low cost Inertial Measurement Unit (IMU) for an Attitude Heading Reference System (AHRS). A low cost IMU takes advantage of the use of MEMS technology enabling cheap, compact, low grade sensors. The use of low cost IMUs is primar- ily targeted towards Unmanned Aerial Vehicle (UAV) applications due to the requirements for small package size, light weight, and low energy consumption. The high dynamics nature of smaller airframes, coupled with the typical vibration induced noise of UAVs require an e cient, reliable, and robust AHRS for vehicle control. To eliminate the singularities at 90 on the pitch and roll axes, and to keep the computational e ciency high, quaternions are used for state attitude representation.
14
Bergeron, Alexandre. "Design and Development of a Marine Data Acquisition System for Inertial Measurement in Wind Powered Yachts." Thèse, Université d'Ottawa / University of Ottawa, 2012. http://hdl.handle.net/10393/23116.
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This thesis presents the design of an inertial measurement data acquisition system intended for use in sailboats. The variables of interest are 3-axis acceleration, 3-axis rotation, GPS position/velocity, magnetic compass bearing and wind speed/direction. The design focus is on low-cost micro-electromechanical systems (MEMS) based technology and demonstrating the validity of these technologies in a scientific application. A prototype is constructed and submitted to a series of tests to demonstrate functionality and soundness of the design. These tests range from bench tests to full scale application. Contributions of this thesis include the novel application of inertial measurement unit (IMU) technology to a sailboat racing application, the integration of all instrumentation, creative ruggedised packaging and emphasising the use of low-cost commercial off-the-shelf (COTS) technology.
15
Lowe, Matthew. "Inertial System Modeling and Kalman Filter Design from Sensor Specifications with Applications in Indoor Localization." Digital WPI, 2011. https://digitalcommons.wpi.edu/etd-theses/760.
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This thesis presents a 6 degree of freedom (DOF) position and orientation tracking solution suitable for pedestrian motion tracking based on 6DOF low cost MEMS inertial measurement units. This thesis was conducted as an extension of the ongoing efforts of the Precision Personnel Location (PPL) project at WPI. Prior to this work most of the PPL research focus has been on Radio Frequency (RF) location estimation. The newly developed inertial based system supports data fusion with the aforementioned RF system in a system currently under development. This work introduces a methodology for the implementation of a position estimation system based upon a Kalman filter structure, constructed from industry standard inertial sensor specifications and analytic noise models. This methodology is important because it allows for both rapid filter construction derived solely from specified values and flexible system definitions. In the course of the project, three different sensors were accommodated using the automatic design tools that were constructed. This thesis will present the mathematical basis of the new inertial tracking system followed by the stages of filter design and implementation, and finally the results of several trials with actual inertial data captures, using both public reference data and inertial captures from a foot mounted sensor that was developed as part of this work.
16
Štefanisko, Ivan. "Integration of inertial navigation with global navigation satellite system." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2015. http://www.nusl.cz/ntk/nusl-221167.
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This paper deals with study of inertial navigation, global navigation satellite system, and their fusion into the one navigation solution. The first part of the work is to calculate the trajectory from accelerometers and gyroscopes measurements. Navigation equations calculate rotation with quaternions and remove gravity sensed by accelerometers. The equation’s output is in earth centred fixed navigation frame. Then, inertial navigation errors are discussed and focused to the bias correction. Theory about INS/GNSS inte- gration compares different integration architecture. The Kalman filter is used to obtain navigation solution for attitude, velocity and position with advantages of both systems.
17
Yang, Chuan Hao. "Development of a locomotion interface for portable virtual environment systems using an inertial/magnetic sensor-based system and a ranging measurement system." Thesis, Monterey, California: Naval Postgraduate School, 2014. http://hdl.handle.net/10945/41459.
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Approved for public release; distribution is unlimited.This dissertation describes the development of an integrated locomotion interface for building self-contained, portable, and immersive virtual environment (VE) systems. Such VE systems do not rely on any infrastructure support and can be used in indoor/outdoor open spaces. The natural walking motions of the user are utilized as a means of signal generation to drive the locomotion interface, which provides the user with a higher sense of presence. This work investigates the use of two types of measurement systems, the inertial/magnetic measurement units and the ranging measurement systems, to develop a locomotion interface for portable VE systems. Algorithms were developed for each of the two systems to provide the necessary functionalities of the desired locomotion interface. Fusing measurements from a head-mounted and a foot-mounted inertial/magnetic sensor, a locomotion interface was developed for allowing the use of natural walking motions to navigate through virtual environments. To prevent collisions with physical environment boundaries such as walls, a ranging measurement system was used to detect the presence of obstacles. An improved Iterative Closest Point (ICP) algorithm was developed for map-building of the physical environment and for estimating the user's orientation and position within the map. A redirected-walking mechanism was utilized for redirecting the user's walking direction away from boundaries in the physical environment. The two types of measurement systems were integrated to constitute a novel locomotion interface for portable VE systems, and its effectiveness was experimentally tested and demonstrated.
18
Kok, Wing Hang (Ronald). "Development of a wireless MEMS inertial system for health monitoring of structures." Link to electronic thesis, 2004. http://www.wpi.edu/Pubs/ETD/Available/etd-11244-122741/.
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Thesis (M.S.)--Worcester Polytechnic Institute.Keywords: angular rate; cantilever; wireless; RF; microcontroller; tilt and rotation; health monitoring; inertial sensors; MEMS. Includes bibliographical references (p. 139-145).
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Ozyalcin, Anil E. "SOLITONS: A COMPACT, LOW-COST, AND WIRELESS BODY MOTION CAPTURE SYSTEM." The Ohio State University, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=osu1437440750.
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Marquez, Andres Felipe. "Motion-Logger: An Attitude and Motion Sensing System." [Tampa, Fla] : University of South Florida, 2008. http://purl.fcla.edu/usf/dc/et/SFE0002719.
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Sammon, Ryan. "Data Collection, Analysis, and Classification for the Development of a Sailing Performance Evaluation System." Thèse, Université d'Ottawa / University of Ottawa, 2013. http://hdl.handle.net/10393/25481.
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The work described in this thesis contributes to the development of a system to evaluate sailing performance. This work was motivated by the lack of tools available to evaluate sailing performance. The goal of the work presented is to detect and classify the turns of a sailing yacht. Data was collected using a BlackBerry PlayBook affixed to a J/24 sailing yacht. This data was manually annotated with three types of turn: tack, gybe, and mark rounding. This manually annotated data was used to train classification methods. Classification methods tested were multi-layer perceptrons (MLPs) of two sizes in various committees and nearest- neighbour search. Pre-processing algorithms tested were Kalman filtering, categorization using quantiles, and residual normalization. The best solution was found to be an averaged answer committee of small MLPs, with Kalman filtering and residual normalization performed on the input as pre-processing.
22
Bruggemann, Troy Sterling. "Investigation of MEMS inertial sensors and aircraft dynamic models in global positioning system integrity monitoring for approaches with vertical guidance." Thesis, Queensland University of Technology, 2009. https://eprints.qut.edu.au/32050/1/Troy_Bruggemann_Thesis.pdf.
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An Approach with Vertical Guidance (APV) is an instrument approach procedure which provides horizontal and vertical guidance to a pilot on approach to landing in reduced visibility conditions. APV approaches can greatly reduce the safety risk to general aviation by improving the pilot’s situational awareness. In particular the incidence of Controlled Flight Into Terrain (CFIT) which has occurred in a number of fatal air crashes in general aviation over the past decade in Australia, can be reduced. APV approaches can also improve general aviation operations. If implemented at Australian airports, APV approach procedures are expected to bring a cost saving of millions of dollars to the economy due to fewer missed approaches, diversions and an increased safety benefit.
The provision of accurate horizontal and vertical guidance is achievable using the Global Positioning System (GPS). Because aviation is a safety of life application, an aviation-certified GPS receiver must have integrity monitoring or augmentation to ensure that its navigation solution can be trusted. However, the difficulty with the current GPS satellite constellation alone meeting APV integrity requirements, the susceptibility of GPS to jamming or interference and the potential shortcomings of proposed augmentation solutions for Australia such as the Ground-based Regional Augmentation System (GRAS) justifies the investigation of Aircraft Based Augmentation Systems (ABAS) as an alternative integrity solution for general aviation.
ABAS augments GPS with other sensors at the aircraft to help it meet the integrity requirements. Typical ABAS designs assume high quality inertial sensors to provide an accurate reference trajectory for Kalman filters. Unfortunately high-quality inertial sensors are too expensive for general aviation. In contrast to these approaches the purpose of this research is to investigate fusing GPS with lower-cost Micro-Electro-Mechanical System (MEMS) Inertial Measurement Units (IMU) and a mathematical model of aircraft dynamics, referred to as an Aircraft Dynamic Model (ADM) in this thesis. Using a model of aircraft dynamics in navigation systems has been studied before in the available literature and shown to be useful particularly for aiding inertial coasting or attitude determination. In contrast to these applications, this thesis investigates its use in ABAS.
This thesis presents an ABAS architecture concept which makes use of a MEMS IMU and ADM, named the General Aviation GPS Integrity System (GAGIS) for convenience. GAGIS includes a GPS, MEMS IMU, ADM, a bank of Extended Kalman Filters (EKF) and uses the Normalized Solution Separation (NSS) method for fault detection. The GPS, IMU and ADM information is fused together in a tightly-coupled configuration, with frequent GPS updates applied to correct the IMU and ADM. The use of both IMU and ADM allows for a number of different possible configurations. Three are investigated in this thesis; a GPS-IMU EKF, a GPS-ADM EKF and a GPS-IMU-ADM EKF. The integrity monitoring performance of the GPS-IMU EKF, GPS-ADM EKF and GPS-IMU-ADM EKF architectures are compared against each other and against a stand-alone GPS architecture in a series of computer simulation tests of an APV approach. Typical GPS, IMU, ADM and environmental errors are simulated.
The simulation results show the GPS integrity monitoring performance achievable by augmenting GPS with an ADM and low-cost IMU for a general aviation aircraft on an APV approach. A contribution to research is made in determining whether a low-cost IMU or ADM can provide improved integrity monitoring performance over stand-alone GPS. It is found that a reduction of approximately 50% in protection levels is possible using the GPS-IMU EKF or GPS-ADM EKF as well as faster detection of a slowly growing ramp fault on a GPS pseudorange measurement.
A second contribution is made in determining how augmenting GPS with an ADM compares to using a low-cost IMU. By comparing the results for the GPS-ADM EKF against the GPS-IMU EKF it is found that protection levels for the GPS-ADM EKF were only approximately 2% higher. This indicates that the GPS-ADM EKF may potentially replace the GPS-IMU EKF for integrity monitoring should the IMU ever fail. In this way the ADM may contribute to the navigation system robustness and redundancy.
To investigate this further, a third contribution is made in determining whether or not the ADM can function as an IMU replacement to improve navigation system redundancy by investigating the case of three IMU accelerometers failing. It is found that the failed IMU measurements may be supplemented by the ADM and adequate integrity monitoring performance achieved.
Besides treating the IMU and ADM separately as in the GPS-IMU EKF and GPS-ADM EKF, a fourth contribution is made in investigating the possibility of fusing the IMU and ADM information together to achieve greater performance than either alone. This is investigated using the GPS-IMU-ADM EKF. It is found that the GPS-IMU-ADM EKF can achieve protection levels approximately 3% lower in the horizontal and 6% lower in the vertical than a GPS-IMU EKF. However this small improvement may not justify the complexity of fusing the IMU with an ADM in practical systems.
Affordable ABAS in general aviation may enhance existing GPS-only fault detection solutions or help overcome any outages in augmentation systems such as the Ground-based Regional Augmentation System (GRAS). Countries such as Australia which currently do not have an augmentation solution for general aviation could especially benefit from the economic savings and safety benefits of satellite navigation-based APV approaches.
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Suvorov, H. V. "MATHEMATICAL MODEL OF THE POINTING ALGORITHM OF STRAP-DOWN INERTIAL SYSTEM, TAKING INTO ACCOUNT REDUCING ERROR MEASUREMENT BY THE METHOD OF OPTIMUM FILTERING." Thesis, Національний авіаційний університет, 2015. http://er.nau.edu.ua/handle/NAU/17209.
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The main purpose of navigation and orientation computer information complex is a co-operative data processing of navigationmeasurements in order to determinethemainparametersof a mobile objectasaccuratelyaspossible.
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Hall, John J. "The design, construction and control of a four-degree-of-freedom hybrid parallel/serial motion platform for the calibration of multi-axis inertial measurement units." Ohio : Ohio University, 2000. http://www.ohiolink.edu/etd/view.cgi?ohiou1171999705.
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Elliott, Richard A. "A user interactive calibration program for an object tracking system using a triaxial accelerometer." Honors in the Major Thesis, University of Central Florida, 2007. http://digital.library.ucf.edu/cdm/ref/collection/ETH/id/1799.
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A major method in object tracking systems and other inertial measurement devices resolves around the use of one, two, or three axis accelerometers. A leader in the field such devices is Microstrain Incorporated. They have developed a three axis accelerometer that uses a three axis magnetic sensor array to compute the pitch, roll, and yaw of a compact inertial measurement unit. In researching such devices, it became apparent that data collected using such units is extremely sensitive both to local magnetic fields and human interactions with the devices. It is therefore of great importance to ensure the device or devices are properly calibrated. In the construction of an effective calibration program, it is necessary to measure and zero out even minor discrepancies, as even small misalignments have deleterious effects on device performance.Bachelors
Engineering and Computer Science
Computer Engineering
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Koroglu, Muhammed Taha. "Multiple Hypothesis Testing Approach to Pedestrian Inertial Navigation with Non-recursive Bayesian Map-matching." The Ohio State University, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=osu1577135195323298.
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Akcay, Emre Mustafa. "Land Vehicle Navigation With Gps/ins Sensor Fusion Using Kalman Filter." Master's thesis, METU, 2008. http://etd.lib.metu.edu.tr/upload/2/12610327/index.pdf.
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Inertial Measurement Unit (IMU) and Global Positioning System (GPS) receivers are
sensors that are widely used for land vehicle navigation. GPS receivers provide
position and/or velocity data to any user on the Earth&rsquos surface independent of his position. Yet, there are some conditions that the receiver encounters difficulties, such as weather conditions and some blockage problems due to buildings, trees etc. Due to these difficulties, GPS receivers&rsquo
errors increase. On the other hand, IMU works with respect to Newton&rsquo
s laws. Thus, in stark contrast with other navigation sensors (i.e. radar, ultrasonic sensors etc.), it is not corrupted by external signals. Owing to this feature, IMU is used in almost all navigation applications. However, it has some disadvantages such as possible alignment errors, computational errors and instrumentation errors (e.g., bias, scale factor, random noise, nonlinearity etc.). Therefore, a fusion or integration of GPS and IMU provides a more accurate navigation data compared to only GPS or only IMU navigation data. v In this thesis, loosely coupled GPS/IMU integration systems are implemented using feed forward and feedback configurations. The mechanization equations, which convert the IMU navigation data (i.e. acceleration and angular velocity components) with respect to an inertial reference frame to position, velocity and orientation data with respect to any desired frame, are derived for the geographical frame. In other words, the mechanization equations convert the IMU data to the Inertial Navigation System (INS) data. Concerning this conversion, error model of INS is developed using the perturbation of the mechanization equations and adding the IMU&rsquo
s sensor&rsquo
s error model to the perturbed mechanization equation. Based on this error model, a Kalman filter is constructed. Finally, current navigation data is calculated using IMU data with the help of the mechanization equations. GPS receiver supplies external measurement data to Kalman filter. Kalman filter estimates the error of INS using the error mathematical model and current navigation data is updated using Kalman filter error estimates. Within the scope of this study, some real experimental tests are carried out using the software developed as a part of this study. The test results verify that feedback GPS/INS integration is more accurate and reliable than feed forward GPS/INS. In addition, some tests are carried out to observe the results when the GPS receiver&rsquo
s data lost. In these tests also, the feedback GPS/INS integration is observed to have better performance than the feed forward GPS/INS integration.
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Linder, Jonas. "Indirect System Identification for Unknown Input Problems : With Applications to Ships." Doctoral thesis, Linköpings universitet, Reglerteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-134126.
Full textAbstract:
System identification is used in engineering sciences to build mathematical models from data. A common issue in system identification problems is that the true inputs to the system are not fully known. In this thesis, existing approaches to unknown input problems are classified and some of their properties are analyzed. A new indirect framework is proposed to treat system identification problems with unknown inputs. The effects of the unknown inputs are assumed to be measured through possibly unknown dynamics. Furthermore, the measurements may also be dependent on other known or measured inputs and can in these cases be called indirect input measurements. Typically, these indirect input measurements can arise when a subsystem of a larger system is of interest and only a limited set of sensors is available. Two examples are when it is desired to estimate parts of a mechanical system or parts of a dynamic network without full knowledge of the signals in the system. The input measurements can be used to eliminate the unknown inputs from a mathematical model of the system through algebraic manipulations. The resulting indirect model structure only depends on known and measured signals and can be used to estimate the desired dynamics or properties. The effects of using the input measurements are analyzed in terms of identifiability, consistency and variance properties. It is shown that cancelation of shared dynamics can occur and that the resulting estimation problem is similar to errors-in-variables and closed-loop estimation problems because of the noisy inputs used in the model. In fact, the indirect framework unifies a number of already existing system identification problems that are contained as special cases. For completeness, an instrumental variable method is proposed as one possibility for estimating the indirect model. It is shown that multiple datasets can be used to overcome certain identifiability issues and two approaches, the multi-stage and the joint identification approach, are suggested to utilize multiple datasets for estimation of models. Furthermore, the benefits of using the indirect model in filtering and for control synthesis are briefly discussed. To show the applicability, the framework is applied to the roll dynamics of a ship for tracking of the loading conditions. The roll dynamics is very sensitive to changes in these conditions and a worst-case scenario is that the ship will capsize. It is assumed that only motion measurements from an inertial measurement unit (IMU) together with measurements of the rudder angle are available. The true inputs are thus not available, but the measurements from the IMU can be used to form an indirect model from a well-established ship model. It is shown that only a subset of the unknown parameters can be estimated simultaneously. Data was collected in experiments with a scale ship model in a basin and the joint identification approach was selected for this application due to the properties of the model. The approach was applied to the collected data and gave promising results.Till skillnad från många andra industrier där avancerade styrsystem har haft en omfattande utveckling under de senaste decennierna så har styrsystem för skepps- och marinindustrin inte alls utvecklats i samma utsträckning. Det är framförallt under de senaste 10 åren som lagkrav och stigande driftskostnader har ökat intresset för effektivitet och säkerhet genom användning av styrsystem. Rederier och den marina industrin är nu intresserade av hur de avancerade styrsystem som används inom andra områden kan tillämpas för marina ändamål. Huvudmålet är typiskt att minska den totala energianvändningen, och därmed också bränsleförbrukningen, genom att hela tiden planera om hur skeppet skall användas med hjälp av ny information samt styra skeppet och dess ingående system på ett sätt som maximerar effektiviteten. För många av dessa avancerade styrsystem är det grundläggande att ha en god förståelse för beteendet hos det systemet som skall styras. Ofta används matematiska modeller av systemet för detta ändamål. Sådana modeller kan skapas genom att observera hur systemet reagerar på yttre påverkan och använda dessa observationer för att finna eller skatta den modell som bäst beskriver observationerna. Observationerna är mätningar som görs med så kallade sensorer och tekniken att skapa modeller från mätningarna kallas för systemidentifiering. Detta är i grunden ett utmanande problem och det kan försvåras ytterligare om de sensorer som behövs inte finns tillgängliga eller är för dyra att installera. I denna avhandling föreslås en ny teknik där de mätningar som finns tillgängliga används på ett nytt och annorlunda sätt. Detta kan minska mängden nödvändiga sensorer eller möjliggöra användandet av alternativa sensorer i modell-framtagningen. Med hjälp av denna nya teknik kan enkla sensorer användas för att skatta en matematisk modell för en del av skeppet på ett sätt som inte är möjligt med traditionella metoder. Genom att skatta denna modell kan fysikaliska egenskaper hos skeppet, så som dess massa och hur massan är fördelad över skeppet, övervakas för att upptäcka förändringar. Just dessa två egenskaper har stor inverkan på hur skeppet beter sig och om skeppet är fellastat kan det i värsta fall kapsejsa. Vetskapen om dessa fysikaliska egenskaper kan alltså utöver effektivisering användas för att varna besättningen eller påverka styrsystemen så att farliga manövrar undviks. För att visa att tekniken fungerar i verkligheten har den använts på mätningar som har samlats in från ett skalenligt modellskepp. Experimenten utfördes i bassäng och resultaten visar att tekniken fungerar. Denna nya teknik är inte specifik för marint bruk utan kan också vara användbar i andra typer av tillämpningar. Även i dessa tillämpningar möjliggörs användandet av färre eller alternativa sensorer för att skatta modeller. Tekniken kan vara speciellt användbar när en modell av ett system eller process som verkar i ett nätverk av många system är av intresse, något som också diskuteras i avhandlingen.
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Zanoni, Fábio Doro. "Modelagem e implementação do sistema de navegação para um AUV." Universidade de São Paulo, 2012. http://www.teses.usp.br/teses/disponiveis/3/3152/tde-23032012-114741/.
Full textAbstract:
Este trabalho apresenta o estudo e a implementação de um sistema de navegação em tempo-real utilizado para estimar a posição, a velocidade e a atitude de um veículo submarino autônomo. O algoritmo investigado é o do Filtro de Kalman Estendido. Este filtro é freqüentemente usado para realizar a fusão de dados obtidos de diferentes sensores, em uma estimativa estatisticamente ótima, quando se respeita algumas condições. Neste trabalho, fez se a fusão entre os seguintes sensores: unidade de navegação inercial do tipo strapdown, sensor acústico de posicionamento, profundímetro, sensor de velocidade de efeito Doppler e uma bússola. Para a aplicação embarcada do Filtro de Kalman, faz-se necessário o seu desenvolvimento em tempo real. Conseqüentemente, este trabalho apresenta o estudo das principais características de um sistema de tempo real. Para desenvolver o código em C utilizou-se de algumas funções do Matlab com a finalidade de se tentar minimizar os erros de implementação do filtro. Além disto, para facilitar a implementação e respeitar os critérios de sistemas de tempo real utilizou-se de um sistema operacional, C/OS-II que possibilita aplicar sistemas com multiprocessos e utilizar semáforos para o gerenciamento do EKF, além disto, foram utilizadas normas de programação, MISRAC, para padronizar o código e aumentar a sua confiabilidade. São apresentadas também a modelagem cinemática, a metodologia e as ferramentas computacionais utilizadas para o filtro. Com base nas simulações e nos ensaios de campo executados on-line, observou-se que os filtros projetados para se estimar a atitude e a posição do veículo obtiveram bons desempenhos, além disto, foi possível verificar a convergência dos EKFs. Para estas simulações e ensaios, foram também estudados casos de situações adversas como, por exemplo, uma falha no sensor de referência de posição, sendo que para esta situação, o EKF de posição e velocidade obteve resultados satisfatórios.This paper presents the study and implementation of a real-time navigation system used to estimate the position, velocity and attitude of an autonomous underwater vehicle. The Extended Kalman Filter, EKF, was adopted. This filter is often used to perform the data fusion from different sensors, in generating a statistically optimal estimate when some required conditions are fulfilled. The algorithm implements the fusion of the following sensors: an inertial navigation unit sensor (strapdown type), an acoustic positioning, a depth gauge, a Doppler velocity log sensor and a magnetic compass. This work presents the kinematic modelling, the methodology and computational tools used for developing the EKF algorithm. In order to integrate the EKF into an embedded system, it is necessary to develop it in real time. It was adopted the C / OS-II operational system, which allows to implement multithreaded systems and use traffic lights to manage the EKF. Furthermore, programming standards, such as MISRA C, was chosen to standardize the code and increase its reliability. The C code implementation took advantage of some Matlab functions to minimize implementation errors. Based on simulations and field tests carried out online, it was concluded that the filters designed to estimate the attitude and position of the vehicle provided good performances, in addition, it was possible to verify the EKFs convergence. The filters were tested in same adverse situations, e.g., a fault in the position reference sensor, providing satisfactory results as well.
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Persson, Lucas, and Sebastian Markström. "Indoor localization of hand-held Shopping Scanners." Thesis, KTH, Data- och elektroteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-208931.
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This thesis investigates applicable indoor navigation systems for the next generation of hand-held shopping scanners, on behalf of the company Virtual Stores. The thesis research and review applicable indoor localization methods and ways to combine and evaluate received localization data in order to provide accurate navigation without introducing any other worn equipment for a potential user. Prototype navigation systems was proposed, developed and evaluated using a combination of carefully placed radio transmitters that was used to provide radio based localization methods using Bluetooth or UltraWide Band (UWB) and inertial sensors combined with a particle filter. The Bluetooth solution was deemed incapable of providing any accurate localization method while the prototype using a combination of UWB and inertial sensors proved promising solution with below 1m average error under optimal conditions or 2.0m average localization error in a more realistic environment. However, the system requires the surveyed area to provide 3 or more UWB transmitters in the line of sight of the UWB receiver of the user at every location facing any direction to provide accurate localization. The prototype also requires to be scaled up to provide localization to more than 1 radio transmitters at the time before being introduced to the Fast moving consumer goods market.Denna avhandling undersöker tillämpliga inomhusnavigationssystem för nästa generations handhållna shopping terminaler, på uppdrag av företaget Virtual Stores. Avhandlingen undersöker och granskar tillämpliga inomhuslokaliseringsmetoder och sätt att kombinera och utvärdera mottagna lokaliseringsdata för att bistå med ackurat navigering utan att introducera någon ytterligare utrustning för en potentiell användare. Prototypnavigationssystem föreslogs, utvecklades och utvärderades användandes en kombination av väl utplacerade radiosändare användandes Bluetooth eller UltraWide Band (UWB) och tröghetssensorer i kombination med ett partikelfilter. Bluetooth-lösningen ansågs oförmögen att tillhandahålla någon exakt lokalisering medan prototypen som använde en kombination av UWB och tröghetssensorer visade sig vara en lovande lösnings med under 1m genomsnittligt fel under optimala förhållanden eller 2,0m genomsnittligt lokaliseringsfel i mer realistisk miljö. Systemet kräver emellertid att det undersökta området tillhandahåller 3 eller fler UWB-sändare inom synfältet för UWB-mottagaren hos användaren vid varje plats och riktning för att tillhandahålla ackurat lokalisering. Prototypen behöver skalas upp för att kunna bistå med lokalisering till mer än 1 radiomottagare innan den introduceras till detaljhandlen.
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Bommakanti, Hemanth Ram Kartik. "Impact of Time Synchronization Accuracy in Integrated Navigation Systems." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-260239.
Full textAbstract:
Global Navigation Satellite System/Inertial Measurement Unit (GNSS/IMU) Integrated Navigation Systems (INS) integrate the positive features of GNSS and IMU for optimal navigation guidance in high accuracy outdoor navigation systems, for example using Extended Kalman Filter (EKF) techniques. Time synchronization of IMU data with precise GNSS based time is necessary to accurately synchronize the two systems. This must be done in real-time for time sensitive navigation applications such as autonomous vehicles. The research is done in two parts. The first part is the simulation of inaccurate time-stamping in a single axis of nonlinear input data in a gyroscope and an accelerometer, to obtain the timing error value that is tolerable by a high accuracy GNSS/INS system. The second part is the creation of a real-time algorithm using an STM32 embedded system enabled with FreeRTOS real-time kernel for a GNSS receiver and antenna, along with an IMU sensor. A comparative analysis of the time synchronized system and an unsynchronized system is done based on the errors produced using gyroscope and accelerometer readings along a single axis from the IMU sensor, by conducting static and rotational tests on a revolving chair.The simulation concludes that a high accuracy GNSS/INS system can tolerate a timing error of up to 1 millisecond. The real-time solution provides IMU data paired with updated GNSS based time-stamps every 5 milliseconds. The timing jitter is reduced to a range of ±1 millisecond. Analysis of final angular rotation error and final position error from gyroscope and accelerometer readings respectively, indicate that the real-time algorithm produces a reduction in errors when the system is static, but there is no statistical evidence showing the reduction of errors from the results of the rotational tests.GNSS / IMU integrerade navigationssystem kombinerar de positiva egenskaperna hos GNSS och IMU för optimal prestanda i noggranna navigationssystem. Detta görs med hjälp av sensorfusion, till exempel EKF. Tidssynkronisering av IMU-data med exakt GNSS-baserad tid är nödvändigt för att noggrant synkronisera de två systemen. Detta måste göras i realtid för tidskänsliga navigationsapplikationer såsom autonoma fordon. Forskningen görs i två delar. Den första delen är simulering av icke-linjär rörelse i en axel med felaktig tidsstämpling hos ett gyroskop och en accelerometer. Detta görs för att erhålla det högsta tidsfel som är acceptabelt hos ett GNSS / INS-system med hög noggrannhet. Den andra delen är skapandet av en realtidsalgoritm med ett inbyggt STM32-system med FreeRTOS som realtidskärna för en GNSSmottagare och antenn, tillsammans med en IMU-sensor. En jämförande analys av det tidssynkroniserade systemet mot ett osynkroniserat system görs baserat på de positionsfel längs en axel som produceras av gyroskopoch accelerometermätningar. Detta görs genom att utföra statiska och roterande tester med hjälp av en roterande stol.Simuleringen visar att ett noggrant GNSS / INS-system tolererar ett tidsfel på upp till 1 millisekund. Realtidslösningen ger IMU-data med tidsstämplar synkroniserade med GNSS-tid var femte millisekund. Tidsjittret reduceras till ett intervall mellan ± 1 millisekund. Analysen av det slutliga vinkelrotationsfelet och positionsfelet från gyroskopoch accelerometermätningar indikerar att realtidsalgoritmen ger ett lägre fel när systemet är statiskt. Det finns dock inga statistiska bevis för förbättringen från resultaten av rotationstesterna.
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Аврутов, Вадим Вікторович. "Розвиток теорії автономного визначення навігаційних параметрів рухомих та нерухомих об’єктів." Thesis, КПІ ім. Ігоря Сікорського, 2020. https://ela.kpi.ua/handle/123456789/38393.
Full textAbstract:
Дисертаційну роботу присвячено вирішенню наукової проблеми створення теорії нових способів автономного визначення навігаційних параметрів рухомих та нерухомих об’єктів шляхом створення методів визначення широти і довготи за допомогою інерціально-вимірювального модулю на нерухомій основі, визначення широти та довготи та курсу на рухомій основі, що дозволяє в порівнянні з традиційними алгоритмами БІНС обходитися без інтегрування показників акселерометрів, а визначення довготи потребує лише інтегрування показників гіроскопів.The dissertation is devoted to solving a scientific problem creation of a theory of new methods for autonomous determination of navigation parameters of moving and stationary objects by creating methods for determining latitude and longitude using an inertial measurement unit on a fixed base, determining latitude, longitude and heading on a moving base, which makes it possible, in comparison with traditional SINS algorithms, to do without integration accelerometers output signals, and determination of longitude requires only the integration of gyroscopes output signals. The development of autonomous navigation and orientation systems has recently become of great importance. Such autonomous systems are primarily gimbaled inertial navigation systems (INS) and strapdown inertial navigation systems (SINS). The main principle of operation of INS and SINS is double integration of accelerometer output signals, as well as integration of gyroscope output signals into SINS. The presence of errors in accelerometers and gyroscopes leads to a growth in location errors over time. The first way to increase the accuracy of SINS is to improve their sensitive elements. The second way to increase the accuracy of SINS is to adjust their readings on satellite, astronavigation and other systems. However, such integrated navigation systems are no longer autonomous. It is important to create such autonomous inertial navigation systems that would not depend on the impressions of satellite and other navigation systems, would have sufficient accuracy and at the same time would have an affordable price. But alas, there is still no theory of such autonomous navigation systems, which would determine the location by different from standard algorithms for double integration of accelerometer readings. That is, there is a problem of creating new ways of autonomous determination of navigation parameters using sensitive elements of medium accuracy. Moreover, for fixed objects the autonomous determination of the initial coordinates or location is relevant, and for the moving ones - the autonomous determination of the location by different from the standard algorithms of double integration of the accelerometer readings. This necessitates the development of new scientifically sound methods and algorithms for autonomous determination of navigation parameters of moving and stationary objects, which would provide acceptable accuracy in determining the location in the conditions of external interference to radio navigation systems.
Диссертационная работа посвящена решению научной проблемы создания теории нового автономного определения навигационных параметров подвижных и неподвижных объектов путем создания методов определения широты и долготы с помощью инерциально-измерительного модуля на неподвижном основании, определения широты, долготы и курса на подвижном основании, что позволяет в сравнении с традиционными алгоритмами БИНС обходиться без интегрирования показаний акселерометров, а определение долготы требует только интегрирования показаний гироскопов.
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Gourgeon, Aurélie. "Régionalisation fonctionnelle du cortex cérébelleux postérieur chez le rat." Thesis, Sorbonne université, 2019. http://www.theses.fr/2019SORUS568.
Full textAbstract:
La représentation et la position du corps dans l'espace ainsi que la stabilisation du regard et de la posture dépendent fortement des mouvements de la tête. Pour ce faire, le système vestibulaire utilise deux types de capteurs inertiels : les canaux semi-circulaires pour la détection de la rotation de la tête et les organes à otolithes sensibles à sa translation. L’intégration de cette information inertielle s’effectue en partie dans complexe nodulo-uvulaire (CNU) et des enregistrements électrophysiologiques de cellules de Purkinje (CP) dans sa partie médiane, ont montré une intégration plus complexe de l’information vestibulaire que celle estimée jusque-là. Toutefois, l'organisation anatomique, moléculaire et cellulaire du CNU n’a, à ce jour, pas été considérée dans l’interprétation de la dynamique des cellules de Purkinje du CNU. Afin d’appréhender cette régionalisation anatomo-fonctionnelle, des enregistrements électrophysiologiques dans sa partie latérale ont été réalisés au cours de mouvements naturels et spontanés chez le rat et une ré-analyse des données médianes a été effectuée. Les résultats présentés dans cette thèse corroborent ceux publiés précédemment mais révèlent également une organisation inter-lobulaire et médio-latérale de l’activité des CP, montrant une répartition inégale des sensibilités inertielles. Par ailleurs, l’existence d’une nouvelle classe de cellules anticipant le mouvement a été révélée et constitue un argument supplémentaire à l’intégration d’un signal de « copie efférente » au sein du CNUThe representation and position of the body in space as well as the stabilization of gaze and posture heavily depend of head movements. Thus, the vestibular system uses two types of inertial sensors: the semi-circular canals for the detection of rotations of the head and otolith organs sensitive to its translation. The integration of this inertial information is partly done in the nodulo-uvular complex (CNU) and electrophysiological recordings of Purkinje cells (CP) in its median part, have shown a more complex integration of vestibular information than estimated until there. However, the anatomical, molecular and cellular organization of the CNU has so far not been considered in the interpretation of the CNU Purkinje cell dynamics. In order to apprehend this anatomo-functional regionalization, electrophysiological recordings in its lateral part were performed during natural and spontaneous movements in the rat and a re-analysis of the median data was done. The results presented in this thesis corroborate those previously published but also reveal an inter-lobular and medio-lateral organization of CP activity, showing an unequal distribution of inertial sensitivities. In addition, the existence of a new class of cells anticipating movement has been revealed and constitutes an additional argument to the integration of an "efferent copy" signal within the CNU
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Blair, Stephanie. "Biomechanical Considerations in Goal-Kicking Accuracy: Application of an Inertial Measurement System." Thesis, 2019. https://vuir.vu.edu.au/40034/.
Full textAbstract:
Goal-kicking is an important skill in Australian Football (AF), accounting for approximately 62% of points scored during a match (Anderson et al., 2018). Despite its importance, little biomechanical research has examined the key technical characteristics underpinning the skill. The aims of this thesis were to validate a methodological approach to enable quantification of goal-kicking kinematics in a field environment, and examine goal-kicking technique and identify technical factors associated with accuracy. In Chapters 3 and 4, the Xsens inertial measurement system (IMS) was validated against a Vicon motion capture system (MAS) when measuring lower extremity and pelvis kinematics. Trivial to small mean differences (0.2-10.1%) and measurement error (0.1-7.9%) were found between the IMS and MAS across all parameters, advocating the use of IMS to quantify kicking kinematics. In Chapter 5, the effect of modifying the task constraints on accurate goal-kicking was explored. Increasing the distance of the shot from goals (30 m to 40 m) required substantially greater joint range of motion (knee and hip), with higher linear (foot speed) and angular (knee and shank) velocities. Altering the angle of the shot (0 to 45°) had no substantial influence on accurate goal-kicking technique. Findings indicated adjustments in goal-kicking technique may be required dependent on the location of the shot. In Chapter 6, 18 elite to sub-elite AF players performed 15 x 30 m goal-kicks in-front of goals and technique was examined on group-basis. A number of substantial kinematic differences were identified between accurate and inaccurate goal-kicks. For example, accurate goal-kicks were characterised by substantially less kick-leg joint range of motion (ankle, knee and hip), lower linear (com, foot speed) and angular (knee and shank) velocities, with less support-leg knee flexion during the kicking phase. In addition, a number of substantial linear and quadratic relationships were reported between technical parameters and accuracy. Findings indicated that many factors influence goal-kicking accuracy in AF; ranging from technical errors in the player’s approach, configuration of their support-leg and kick-leg motions, through to follow-through position. In Chapter 7, goal-kicking data from chapter 6 was examined on individual-basis. All players demonstrated substantial kinematic differences between accurate and inaccurate goal-kicks, along with substantial relationships between kinematic parameters and accuracy, but these were individual-specific. A combination of both a group and individual-based analysis provided a more thorough understanding of technical factors which influence goal-kicking technique in AF. The body of work in this thesis provides: 1) validation of a methodological approach to quantify kicking biomechanics, and 2) a comprehensive understanding of technical factors associated with goal-kicking accuracy in AF, and 3) recommendations for both research and coaching practice.
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Her, Li-Wei, and 何立偉. "Fabrication of a triaxial inertial measurement system." Thesis, 1999. http://ndltd.ncl.edu.tw/handle/81696481310897064303.
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碩士國立臺灣大學
機械工程學研究所
87
A triaxial inertial measurement system is implemented using six microaccelerometers as the sensing elements. Rotational and translational acceleration data is acquired and numerically processed to obtain the trajectory of a body with motion in three dimensions. This thesis covers the design, analysis, fabrication, signal compensation, and processing of the system. A basic structure for the measurement system is determined first. The dimension of the structure and the placement of the accelerometers is optimized with the help of a standard FEM package. The accelerometers are fabricated with MEMS technology. All other mechanical system parts are traditionally machined. Electrochemical etch stop technique is used to precisely define the thickness of the beams holding the proof mass. The proof mass is created from two symmetrical parts. A proprietary anodic bonding apparatus has been designed for the purpose. Bond strength evaluation is examined in detail. Temperature sensitivity of the accelerometer peizoresistors is compensated using diode circuitry. The forward bias voltages of diodes have been shown to be a function of temperature. Tests results are satisfactory. The accelerometer data is fed into a computer, which calculates the trajectory of the moving body.
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Wang, Sheng-po, and 王聖博. "Design and Realization of a Low-Cost 6-DOF Inertial Measurement System." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/48571974466030486291.
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碩士國立雲林科技大學
電子與資訊工程研究所
99
This thesis deals with the design of a low-cost inertial measurement unit for autonomous unmanned aerial vehicles (UAV). With the aid of GPS, the inertial measurement unit aims to provide all the necessary flight information of the vehicle for use in the feedback flight control. The flight information of the vehicle includes accelerations, velocities, and displacements of axes together with angular displacements of roll, pitch and yaw, respectively, and the corresponding angle rates. Among others, velocities and displacements of axes are not directly measurable; some estimation scheme has to be established from the measurement of accelerations. Specifically, for unmanned helicopters, a high-precision estimation of velocity and displacement is required for fulfilling a stable autonomous flight control. The author has proposed an integral alpha-beta-gamma filter together with an alpha-beta-gamma error corrector to effectively perform the estimation. The measurement from GPS and a well-designed fixed Kalman gain were used for prediction error correction. After extensive tests on a helicopter, the estimation scheme has been proven promising in this application.
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Chang, Hsien Ting, and 張賢廷. "Development of Novel Measurement System for Capturing Orientations of Multi-Rigid-Body through Inertial Measurement Unit." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/77615985399586609739.
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碩士國立清華大學
動力機械工程學系
104
With the progress of science and a variety of ever-changing technology, people's life develop dramatically. However, people need more and more expertise in various fields because of the expansion of knowledge. When using powerful but complex tools, people often can not quite intuitive to use these tools , and even takes on quite a long time to learn. It is probably because people require more expertise to use it. Thus, human-computer interaction and the concept of the Cyber-Physical System will be quite important. How to extend people’s feeling and control ability and how to develop technologies to identify people’s motion become more and more important in recent years. In order to answer these questions, sensing people’s postures will play an important role. How to make the interaction between people and machine more simple and intuitive is the motivation of this research. This research uses MEMS type inertial measurement units and comes up the algorithm to estimate the orientation multi-rigid-body. The performance shows that the root-mean-square error is 1 degree and the standard deviation is 0.75 degrees compared with the optical encoder. This data shows that this research is enough to be applied to various applications.
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"Three dimensional motion tracking using micro inertial measurement unit and monocular visual system." 2011. http://library.cuhk.edu.hk/record=b5894605.
Full textAbstract:
Lam, Kin Kwok.Thesis (M.Phil.)--Chinese University of Hong Kong, 2011.
Includes bibliographical references (leaves 99-103).
Abstracts in English and Chinese.
Abstract --- p.ii
摘要 --- p.iii
Acknowledgements --- p.iv
Table of Contents --- p.v
List of Figures --- p.viii
List of Tables --- p.xi
Chapter Chapter 1 --- Introduction --- p.1
Chapter 1.1 --- Intrinsic Problem of Today's Pose Estimation Systems --- p.1
Chapter 1.2 --- Multi-sensors Data Fusion --- p.2
Chapter 1.3 --- Objectives and Contributions --- p.3
Chapter 1.4 --- Organization of the dissertation --- p.4
Chapter Chapter 2 --- Architecture of Sensing System --- p.5
Chapter 2.1 --- Hardware for Pose Estimation System --- p.5
Chapter 2.2 --- Software for Pose Estimation System --- p.6
Chapter Chapter 3 --- Inertial Measurement System --- p.7
Chapter 3.1 --- Basic knowledge of Inertial Measurement System --- p.7
Chapter 3.2 --- Strapdown Inertial Navigation --- p.8
Chapter 3.2.1 --- Tracking Orientation --- p.9
Chapter 3.2.2 --- Discussion of Attitude Representations --- p.14
Chapter 3.2.3 --- Tracking Position --- p.16
Chapter 3.3 --- Summary of Strapdown Inertial Navigation --- p.16
Chapter Chapter 4 --- Visual Tracking System --- p.17
Chapter 4.1 --- Background of Visual Tracking System --- p.17
Chapter 4.2 --- Basic knowledge of Camera Calibration and Model --- p.18
Chapter 4.2.1 --- Related Coordinate Frames --- p.18
Chapter 4.2.2 --- Pinhole Camera Model --- p.20
Chapter 4.2.3 --- Calibration for Nonlinear Model --- p.21
Chapter 4.3 --- Implementation of Process to Calibrate Camera --- p.22
Chapter 4.3.1 --- Image Capture and Corners Extraction --- p.22
Chapter 4.3.2 --- Camera Calibration --- p.23
Chapter 4.4 --- Perspective-n-Point Problem --- p.25
Chapter 4.5 --- Camera Pose Estimation Algorithms --- p.26
Chapter 4.5.1 --- Pose Estimation Using Quadrangular Targets --- p.27
Chapter 4.5.2 --- Efficient Perspective-n-Point Camera Pose Estimation --- p.31
Chapter 4.5.3 --- Linear N-Point Camera Pose Determination --- p.33
Chapter 4.5.4 --- Pose Estimation from Orthography and Scaling with Iterations --- p.36
Chapter 4.6 --- Experimental Results of Camera Pose Estimation Algorithms --- p.40
Chapter 4.6.1 --- Simulation Test --- p.40
Chapter 4.6.2 --- Real Images Test --- p.43
Chapter 4.6.3 --- Summary --- p.46
Chapter Chapter 5 --- Kalman Filter --- p.47
Chapter 5.1 --- Linear Dynamic System Model --- p.48
Chapter 5.2 --- Time Update --- p.48
Chapter 5.3 --- Measurement Update --- p.49
Chapter 5.3.1 --- Maximum a Posterior Probability --- p.49
Chapter 5.3.2 --- Batch Least-Square Estimation --- p.51
Chapter 5.3.3 --- Measurement Update in Kalman Filter --- p.54
Chapter 5.4 --- Summary of Kalman Filter --- p.56
Chapter Chapter 6 --- Extended Kalman Filter --- p.58
Chapter 6.1 --- Linearization of Nonlinear Systems --- p.58
Chapter 6.2 --- Extended Kalman Filter --- p.59
Chapter Chapter 7 --- Unscented Kalman Filter --- p.61
Chapter 7.1 --- Least-square Estimator Structure --- p.61
Chapter 7.2 --- Unscented Transform --- p.62
Chapter 7.3 --- Unscented Kalman Filter --- p.64
Chapter Chapter 8 --- Data Fusion Algorithm --- p.68
Chapter 8.1 --- Traditional Multi-Sensor Data Fusion --- p.69
Chapter 8.1.1 --- Measurement Fusion --- p.69
Chapter 8.1.2 --- Track-to-Track Fusion --- p.71
Chapter 8.2 --- Multi-Sensor Data Fusion using Extended Kalman Filter --- p.72
Chapter 8.2.1 --- Time Update Model --- p.73
Chapter 8.2.2 --- Measurement Update Model --- p.74
Chapter 8.3 --- Multi-Sensor Data Fusion using Unscented Kalman Filter --- p.75
Chapter 8.3.1 --- Time Update Model --- p.75
Chapter 8.3.2 --- Measurement Update Model --- p.76
Chapter 8.4 --- Simulation Test --- p.76
Chapter 8.5 --- Experimental Test --- p.80
Chapter 8.5.1 --- Rotational Test --- p.81
Chapter 8.5.2 --- Translational Test --- p.86
Chapter Chapter 9 --- Future Work --- p.93
Chapter 9.1 --- Zero Velocity Compensation --- p.93
Chapter 9.1.1 --- Stroke Segmentation --- p.93
Chapter 9.1.2 --- Zero Velocity Compensation (ZVC) --- p.94
Chapter 9.1.3 --- Experimental Results --- p.94
Chapter 9.2 --- Random Sample Consensus Algorithm (RANSAC) --- p.96
Chapter Chapter 10 --- Conclusion --- p.97
Bibliography --- p.99
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SHIH, CHENG-BANG, and 石正邦. "Development of an Upper Limb Rehabilitation System using Inertial Measurement Unit and Kinect." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/uqpxrt.
Full textAbstract:
碩士南臺科技大學
電機工程系
104
Frozen shoulder and stroke are both common clinical illnesses. Both illnesses may lead to disability and cause huge inconvenience on the patient’s daily routine. Therefore, improving rehabilitation efficacy and the increasing patient willingness to attend rehabilitation treatment are very crucial issues. Virtual Reality (VR) has been used in combination with medical treatment and technology. Its skeletal tracking system is being widely used in the field of medicine and rehabilitation. Although the Microsoft Kinect device with low cost and easy development, it may encounter the problem of misdetection when it comes to extremity angles or overlapping extremity. In this study, we proposed a new Rehabilitation Gaming System (RGS) which focuses on the upper part of the body with wireless Inertial Measurement Units (IMUs) and Kinect device. This system used Kinect as the base tracking system for its operation. Meanwhile, multiple sets of IMU were put on the extremity of the subject to calculate the angles through algorithms. The extremity angles calculated by the two systems during the test were recorded for further comparison. The results showed that Kinect has a greater error on extremity angles with regard to depth or overlapping extremities but calculation by IMUs has higher accuracy and stability. Therefore, we hope that Kinect and IMU could be integrated so that IMU can be used in assisting Kinect with depth and extremity angle correction in order to enhance the reliability and validity of rehabilitation efficacy and measurement.
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Goodvin, Christina. "Development of a real-time spinal motion inertial measurement system for vestibular disorder application." Thesis, 2007. http://hdl.handle.net/1828/188.
Full textAbstract:
The work presented in this thesis has two distinct parts: (i) development of a spinal
motion measurement technique and (ii) incorporation of the spinal motion measurement
with galvanic vestibular stimulation (GVS) technology, acting as a balance assist device
hereafter referred to as a galvanic vestibular stimulation device (GVSD). The developed
spinal motion measurement technique fulfills seven desired attributes: accuracy,
portability, real-time data capture of dynamic data, non-invasive, small device footprint,
clinically useful and of non-prohibitive cost. Applications of the proposed system range
from diagnosis of spine injury to postural and balance monitoring, on-field as well as in
the lab setting. The system is comprised of three inertial measurement sensors,
respectively attached and calibrated to the head, torso and hips, based on the subject’s
anatomical planes. Sensor output is transformed into meaningful clinical parameters of
rotation, flexion-extension and lateral bending of each body segment with respect to a
global reference space, then collected and visualized via an interactive graphical user
interface (GUI). The accuracy of the proposed sensing system has been successfully
verified with subject trials using a VICON optical motion measurement system. Next, the
proposed motion measurement system and technique has been used to record a standing
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subject’s motion response to GVS. The data obtained allows the development of a new
GVSD with the attributes of: eligibility for commercial licensing, portability, and capable
of safely providing controlled stimulating current to the mastoid bones at varying levels
and frequencies. The successful combination of the spinal motion measurement technique
and GVSD represents the preliminary stage of a balance prosthesis.
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Lin, Huai-Wei, and 林淮偉. "A Design and Analysis of Wireless Knee Auscultation System with Wearable Inertial Measurement Device." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/13357469049848469202.
Full textAbstract:
碩士崑山科技大學
電子工程研究所
102
The practice of two-day weekends, increasing average annual wages of the citizens, and the enhancement of knowledge allow the citizens realizing the advantages of exercises and increasing the time for leisure entertainment and exercises. Exercises could activate bodies and enhance health. Nonetheless, exercises without warm-up could easily result in sports injuries. Knees are the joints being easily injured. Knee joints are fine structures which could be injured by wrong postures, overuse, or improper exercises. Such injuries could easily result in knee joint lesion, falls caused by pain and lack strength, and even bone fracture. Invasive arthroscope, X-ray, computed tomography, and magnetic resonance imaging are currently utilized for diagnosing knee joint lesion, in which radiation instrument is mostly used for diagnoses. With the microminiaturization of gyroscopes and accelerometer sensors, six-axis integrated inertial measurement unit (IMU) has been proposed. This study proposes to integrate inertial measurement unit with knee auscultation, recording the angles and the change of swing angle speed in knee joint flexion with the characteristics of accelerometers and gyroscopes so as to discuss abnormal knee joint sound frequency of the participant appearing on what calf flexion angle and swing angle speed when proceeding knee joint sound signal analyses. For the flexibility, convenience, and real-time recording and analyses, the movement parameters and microphone sound signals measured with an inertial sensor are transmitted to the computer end through wireless radio frequency (RF) and Bluetooth. The power is supplied with lithium polymers for the wireless requirement. Non-invasive knee joint auscultation measurement is expected to be enhanced to the ideas of clinical diagnoses and preventive medicine in order to reduce the inconvenience, resulted from operations, for patients.
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Wu, Zhi-Hao, and 吳治皜. "A Novel Wireless Multi-axial Inertial Measurement System for Detecting Gait and Joint Parameters." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/95480460019757723347.
Full text
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Widagdo, Prabancoro Adhi Catur, and Prabancoro Adhi Catur Widagdo. "Wearable Motion Tracking System Using Quaternion-based Complementary Filter Algorithm with Inertial Measurement Units." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/95v99c.
Full textAbstract:
碩士國立臺灣科技大學
電機工程系
104
While the ability to perceive attitude in 3D trajectory of the movement is a basic concept of a motion capture, a 9-axis inertial measurement unit (IMU) device containing accelerometer, gyroscope and magnetometer is introduced as a challenge for motion tracking device. As presented in this thesis, we developed a modular architecture in terms of accuracy on orientation of the sensor output, implemented for wearable motion capture system in attitude estimation. It contains 13 IMU module devices as a sensory network attached in the human body for reconstructing human attitude estimation. The system was integrated as quaternion-based implementation where several methods were separately used for achieving better result. The first proposed method used a digital motion processor for gaining accurate data and directly calculated inside the sensor itself. Secondly, we employed a complementary filter (CF) fused using gradient descent algorithm. Another approach method was to combine CF with a Mahony filter. Furthermore, all of approaches were working with digital motion processor (DMP) system to minimize the accumulative error. As a validation, a passive manipulator robot containing encoders was used for comparison. Our experimental results showed that all of the proposed methods can work properly and they represented acceptable performances and achieved accuracy for orientation. The first method had rmse of yaw-pitch-roll as 1.42, 1.14, and 0.85 degree respectively; the second had rmse of 1.32, 0.83, 0.75 degree; the last approach had rmse of 1.30-4.63, 1.22 and 0.93 degree for yaw, pitch and roll respectively. Moreover, our IMU-based wearable motion capture system was able to reconstruct a human skeletal animation with rmse of shoulder and elbow as 6.76 and 6.6 degree respectively at the sampling rate 24 frame per second.
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Wang, Wei-Lung, and 王偉龍. "Shipborne gravity estimation from the combination of inertial measurement unit(IMU) and global positioning system (GPS)." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/08080784284787717959.
Full textAbstract:
碩士國立中興大學
水土保持學系所
102
The study is aimed at gravity estimation by using Inertial Measurement Unit(IMU) and Global Positioning System(GPS) data, and the accuracies of results are rigorously analyzed. The IMU and GPS data are from the proposal 「Shipborne gravity survey over the inshore areas of Taiwan」 sponsored by National Land Surveying and Mapping Center (NLSC) in 2011. In the step of data pre-processing, we consider different filter techniques and widths to determine a best filter combination according to the correlation coefficients and standard deviations between GPS and IMU data. Gaussian filter is adopted again to eliminate data noises in the step of gravity computation. The results are evaluated both by ZLS ship-derived and by EGM08-derived gravity. We conclude that (1) Gaussian and Cosine arch filters both exhibit more excellent results than others. (2) In Route 0514c, the best correlation coefficient 0.88 are occurred when the Gaussian filter widths use 5.5 s for IMU, and 2 s for GPS. (3) In Route 0519a, the best correlation coefficient 0.88 are occurred when the Gaussian filter widths use 5.0 and 1 s for IMU and GPS, respectively. (4) Route 2-2 show the best result that the accuracies reach 40 ? 50 mgal at Gaussian filter widths 200 ? 500s, and reach 20 ? 30 mgal at 1000 ? 1500 s.
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Shang-WeiHuang and 黃上瑋. "Apply Screw Mechanism and Inertial Measurement Unit to C-arm Based Puncture System for Percutaneous Vertebroplasty." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/39144500624646978582.
Full text
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游博淵. "Integration of Computer Vision and Inertial Measurement Unit for the Development of an Indoor Navigation System." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/rzb2ae.
Full textAbstract:
碩士逢甲大學
航太與系統工程學系
106
In recent years, unmanned vehicles have been used more and more in various fields. Because of their high mobility, vertical take-off and landing, and fixed-point suspension, they are very suitable for obtaining environmental image information in non-contact and non-destructive ways. The most important of these is the current position of the vehicle. The use of GPS for outdoor positioning is very mature. However, satellite signals cannot be used normally for indoor positioning due to factors such as building obscuration, and the use of visual positioning technology to develop indoor positioning systems has been developed. It has been a very extensive study, the indoor environment is complex, and the visual positioning alone, its accuracy and robustness will be difficult due to environmental factors. In order to assist and establish the indoor positioning system, this thesis mainly studies the use of visual positioning and IMU information to comprehensively analyze and discuss the problems generated by three different directional trajectories, with extended Kalman filter, with the lens constantly At the same time of moving, single-lens visual identification positioning, by measuring the depth distance between the feature point and the lens, provides information such as initialization position, velocity and attitude of the IMU correction, thereby improving the error caused by the single vision image. The experimental part uses MATLAB to complete the feature point detection and comparison, and uses the library to perform single-lens visual positioning, and captures the single-lens visual positioning and IMU's real-time measurement information, and analyzes and verifies the data through Matlab.
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Jitpraphai, Thanat. "Lateral pulse jet control of a direct fire atmospheric rocket using an inertial measurement unit sensor system." Thesis, 2001. http://hdl.handle.net/1957/32379.
Full textAbstract:
Impact point dispersion of a direct fire rocket can be drastically reduced
with a ring of appropriately sized lateral pulse jets coupled to a trajectory tracking
flight control system. The system is shown to work well against uncertainty in the
form of initial off-axis angular velocity perturbations as well as atmospheric winds.
For an example case examined, dispersion was reduced by a factor of one hundred.
Dispersion reduction and mean miss distance are strong functions of the number of
individual pulse jets, the pulse jet impulse, and the trajectory tracking window size.
Proper selection of these parameters for a particular rocket and launcher
combination is required to achieve optimum dispersion reduction to the pulse jet
control mechanism. For the lateral pulse jet control mechanism that falls into the
category of an impulse control mechanism, the trajectory tracking flight control law
provides better reduction in dispersion and mean miss distance than the
proportional navigation guidance law especially when small number of individual
pulse jets is used.
Estimation of body frame components of angular velocity and angular
acceleration of a rigid body projectile undergoing general three-dimensional motion
using linear acceleration measurements is considered. The results are comparable
to those obtained from a conventional Inertial Measurement Unit (IMU) that
composes of accelerometers and gyroscopes. From the study of the effect of sensor
errors to the measurement and the control performance, the sensitivity of the
angular rate estimation to the sensor noise is a strong function of the constellation
of these three accelerometers. When more than three point measurements are used,
the most effective method to fuse data is with one cluster that contains all sensors.
In the conventional IMU, the dispersion and miss distance are less sensitive to the
errors from accelerometers than to the gyroscopes. The estimation of angular rates
plays essential roles in the performance of the control system in the reduction of
dispersion and miss distance. The use of many accelerometers does not guarantee
to reduce the sensitivity to errors. The selection of constellation among
accelerometers in the data fusion process must be carefully taken into account.Graduation date: 2002
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Voong, Bin-Sheng, and 翁彬勝. "Visual Servoing with LQG Control of a Marker Navigation Quadcopter using Camera System and Inertial Measurement Unit." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/99642278362529366506.
Full textAbstract:
碩士國立交通大學
機械工程系所
104
In recent years, there is an increased interest on the research of Micro Aerial Vehicles (MAVs). Quadcopter is a class of four-rotored aerial vehicles which has the capabilities to provide stable acrobatic flight, navigate into places that ground robots or human cannot reach and perform tasks which are difficult or dangerous for human being such as agricultural surveillance and explosive landmines detection. The goal of this thesis is to present control systems for the AR.Drone 2.0 quadcopter by Parrot to perform visual servoing tasks such as take-off, hovering, following and landing based on the vision feedback from Raspberry Pi camera module attached to its bottom and a visual marker placed on the ground. By enabling an autonomous MAV to perform the aforementioned tasks, it will open a lot of posibilities such as following or picking up ground objects, charging wireless ground sensors, landing on docking or charging station without human intervention to increase its flight time, aerial monitoring and inspection. All the algorithms of this system is implemented on a single-board computer, Raspberry Pi 2 which runs the Robot Operating System (ROS). This thesis has proposed the LQG (Linear-Quadratic-Gaussian) controller for the velocity control of quadcopter’s lateral and longitudinal movement while using PD (Proportional-Derivative) controller for the position control of quadcopter’s lateral, longitudinal, vertical movement and also its yaw rotation control. This thesis has used System Identification method to obtain the system model of AR.Drone 2.0. Then MATLAB software is utilized to analyze and design the controllers and finally the designed controllers are simulated in Simulink. This thesis describes the development, testing and implementation of a system which uses Raspberry Pi 2 as onboard computer to a real quadcopter, AR.Drone 2.0. The system can perform visual marker detection by using Open Source Computer Vision (OpenCV) library for image processing, and also perform the automated visual servoing tasks.
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Su, Che-Shih, and 蘇哲仕. "A Data Glove System Embedded with Inertial Measurement Units for Hand Function Evaluation in the Patient with Stroke." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/83872358730891501827.
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Hsu, Chi-Fan, and 徐啟凡. "Development of an Ergonomics Evaluation System Based on Inertial Measurement Unit and Its Application in the Analysis of Exoskeleton Robot Load Reduction." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/d3k7sh.
Full textAbstract:
碩士國立臺灣大學
生物產業機電工程學研究所
107
In recent years, people have started to pay more attention to ergonomics in different fields of work, especially in agricultural workplaces in which most tasks cause discomfort or a decline in work efficiency. In particular, repeated and intensive waist motions may lead to back injuries, which is a very common complication caused by agricultural operations. This study proposes a system that combines the usage of inertial measurement units (IMUs) and an exoskeleton robot to automatically assess work performance and assist workers while performing several agricultural tasks. The system was optimized based on its weight, endurance, convenience, and cost. By placing three IMUs on the subject’s trunk and legs, the system is able to control the exoskeleton robot to move the wearers’ legs while supporting their backs. In order to evaluate the waist assistance provided by the system, ergonomic assessment tests were used, such as Rapid Upper Limb Assessment (RULA), Rapid Entire Body Assessment (REBA) and electromyography (EMG). In our research, by using the exoskeleton robot we built, the muscle activity of the Erector Spinae decreased by about 21.62% for lifting objects during stoop lifting and 22.53% during semi-squat lifting, while the muscle activity of Biceps Femoris decreased by 6.775% and 18.51%, respectively, for the same tasks as above. The development of exoskeleton robots in this study reduces the risk of musculoskeletal injuries in the wearer and can delay the time of about 20% of fatigue generation, and actually allows the subjects to wear them in the agricultural field for application, which can really help agricultural workers. Carry out labor related work. This work can be applied not only to agricultural tasks, but also for logistics personnel, construction work, and other related work fields.