Towards a Self-Calibratable IMU

2012 ◽  
Author(s):  
Xing Jin ◽  
Jason V. Clark
Keyword(s):  
Inertial Measurement Unit ◽  
Environmental Changes ◽  
Measurement Unit ◽  
Force System ◽  
Positioning Systems ◽  
Inertial Measurement ◽  
Self Calibration ◽  
Global Positioning ◽  
Displacement Force

In this paper, we propose a method that might enable an inertial measurement unit (IMU) to self-calibrate. Self-calibration of IMU is important for: sensing accuracy, reducing manufacturing costs, recalibration upon harsh environmental changes, recalibration after long-term dormancy, and reduced dependence on global positioning systems. What is unique about our technology is that it is the first to offer post-packaged calibration of displacement, force, system stiffness, and system mass. The IMU considered in our study consists of three pairs of accelerometer-gyroscope systems located within the xy-, xz-, and yz-planes of the system. Each pair of sensors oscillates 90 degrees out of phase for continuous sensing during turning points of the oscillation where velocity goes to zero. We demonstrate self-calibration using preliminary data, and we model IMU accuracy and uncertainty through sensitivity analysis.

scholarly journals Rigorous Boresight Self-Calibration of Mobile and UAV LiDAR Scanning Systems by Strip Adjustment

2019 ◽  
Vol 11 (4) ◽  
pp. 442 ◽  
Author(s):  
Zhen Li ◽  
Junxiang Tan ◽  
Hua Liu
Keyword(s):  
Inertial Measurement Unit ◽  
Point Clouds ◽  
Calibration Method ◽  
Satellite System ◽  
Measurement Unit ◽  
Inertial Measurement ◽  
Self Calibration ◽  
Global Navigation Satellite ◽  
Mean Square Errors ◽  
Scanning Systems

Mobile LiDAR Scanning (MLS) systems and UAV LiDAR Scanning (ULS) systems equipped with precise Global Navigation Satellite System (GNSS)/Inertial Measurement Unit (IMU) positioning units and LiDAR sensors are used at an increasing rate for the acquisition of high density and high accuracy point clouds because of their safety and efficiency. Without careful calibration of the boresight angles of the MLS systems and ULS systems, the accuracy of data acquired would degrade severely. This paper proposes an automatic boresight self-calibration method for the MLS systems and ULS systems using acquired multi-strip point clouds. The boresight angles of MLS systems and ULS systems are expressed in the direct geo-referencing equation and corrected by minimizing the misalignments between points scanned from different directions and different strips. Two datasets scanned by MLS systems and two datasets scanned by ULS systems were used to verify the proposed boresight calibration method. The experimental results show that the root mean square errors (RMSE) of misalignments between point correspondences of the four datasets after boresight calibration are 2.1 cm, 3.4 cm, 5.4 cm, and 6.1 cm, respectively, which are reduced by 59.6%, 75.4%, 78.0%, and 94.8% compared with those before boresight calibration.

scholarly journals A Waist-Worn Inertial Measurement Unit for Long-Term Monitoring of Parkinson’s Disease Patients

Sensors ◽  
2017 ◽  
Vol 17 (4) ◽  
pp. 827 ◽  
Author(s):  
Daniel Rodríguez-Martín ◽  
Carlos Pérez-López ◽  
Albert Samà ◽  
Andreu Català ◽  
Joan Moreno Arostegui ◽  
...  
Keyword(s):  
Parkinson’S Disease ◽  
Parkinson's Disease ◽  
Inertial Measurement Unit ◽  
Measurement Unit ◽  
Inertial Measurement ◽  
Long Term Monitoring ◽  
Term Monitoring

scholarly journals Soaring energetics and glide performance in a moving atmosphere

2016 ◽  
Vol 371 (1704) ◽  
pp. 20150398 ◽  
Author(s):  
Graham K. Taylor ◽  
Kate V. Reynolds ◽  
Adrian L. R. Thomas
Keyword(s):  
Global Positioning System ◽  
Inertial Measurement Unit ◽  
Mechanical Energy ◽  
Measurement Unit ◽  
Cost Of Transport ◽  
Inertial Measurement ◽  
Dynamic Soaring ◽  
Energy Flows ◽  
Weak Evidence ◽  
Global Positioning

Here, we analyse the energetics, performance and optimization of flight in a moving atmosphere. We begin by deriving a succinct expression describing all of the mechanical energy flows associated with gliding, dynamic soaring and thermal soaring, which we use to explore the optimization of gliding in an arbitrary wind. We use this optimization to revisit the classical theory of the glide polar, which we expand upon in two significant ways. First, we compare the predictions of the glide polar for different species under the various published models. Second, we derive a glide optimization chart that maps every combination of headwind and updraft speed to the unique combination of airspeed and inertial sink rate at which the aerodynamic cost of transport is expected to be minimized. With these theoretical tools in hand, we test their predictions using empirical data collected from a captive steppe eagle ( Aquila nipalensis ) carrying an inertial measurement unit, global positioning system, barometer and pitot tube. We show that the bird adjusts airspeed in relation to headwind speed as expected if it were seeking to minimize its aerodynamic cost of transport, but find only weak evidence to suggest that it adjusts airspeed similarly in response to updrafts during straight and interthermal glides. This article is part of the themed issue ‘Moving in a moving medium: new perspectives on flight’.

scholarly journals An Implementation of Error Minimization Position Estimate in Wireless Inertial Measurement Unit using Modification ZUPT

2016 ◽  
Vol 4 (2) ◽  
Author(s):  
Adytia Darmawan ◽  
Sanggar Dewanto ◽  
Dadet Pramadihanto
Keyword(s):  
Inertial Measurement Unit ◽  
Robot Navigation ◽  
Angular Rate ◽  
Position Estimation ◽  
Experimental Result ◽  
Measurement Unit ◽  
Legged Robot ◽  
Positioning Systems ◽  
Inertial Measurement ◽  
Position Estimate

Position estimation using WIMU (Wireless Inertial Measurement Unit) is one of emerging technology in the field of indoor positioning systems. WIMU can detect movement and does not depend on GPS signals. The position is then estimated using a modified ZUPT (Zero Velocity Update) method that was using Filter Magnitude Acceleration (FMA), Variance Magnitude Acceleration (VMA) and Angular Rate (AR) estimation. Performance of this method was justified on a six-legged robot navigation system. Experimental result shows that the combination of VMA-AR gives the best position estimation.

Cartesian Control for the Inertial Measurement Unit Calibration Platform

2000 ◽  
Author(s):  
John J. Hall ◽  
Robert L. Williams ◽  
Frank van Graas
Keyword(s):  
Global Positioning System ◽  
Inertial Measurement Unit ◽  
Vertical Motion ◽  
High Accuracy ◽  
Measurement Unit ◽  
Positioning System ◽  
Ohio University ◽  
Inertial Measurement ◽  
Gps Technology ◽  
Global Positioning

Abstract The Department of Mechanical Engineering and the Avionics Engineering Center at Ohio University are developing an electromechanical system for the calibration of an inertial measurement unit (IMU) using global positioning system (GPS) antennas. The GPS antennas and IMU are mounted to a common platform to be oriented in the angular roll, pitch, and yaw motions. Vertical motion is also included to test the systems in a vibrational manner. A four-dof system based on the parallel Carpal Wrist is under development for this task. High-accuracy positioning is not required from the platform since the GPS technology provides absolute positioning for the IMU calibration process.

The Analysis on the Annual Change of Digital Aerial Camera's IMUs Boresight Misalignment

2021 ◽  
Vol 87 (11) ◽  
pp. 801-806
Author(s):  
Abdullah Kayı ◽  
Bülent Bayram ◽  
Dursun Zafer Şeker
Keyword(s):  
Inertial Measurement Unit ◽  
Measurement Unit ◽  
Navigation Systems ◽  
Annual Change ◽  
Short Term ◽  
Inertial Measurement ◽  
Term Stability ◽  
Long Term Stability ◽  
Flight Season

The system calibration determines the position and orientation between the sensor and the navigation systems, such as boresight misalignment. Although there is much research about boresight calibration, there are not sufficient studies on the frequency of the calibration performance. The short-term stability of boresight misalignment was investigated in previous studies, but long-term stability research could not be done. It is important to emphasize that long-term stability is still open to questions. In this study, an Ultracam Eagle digital aerial camera's data from 2012 to 2016 were analyzed and the question of how often calibration should be performed was investigated. Boresight misalignment does not remain constant on a yearly basis and should be calibrated every year before the flight season. It was observed that the boresight misalignment changed dramatically when the inertial measurement unit or camera was removed from the aircraft and sent to the manufacturer for factory calibration.

An autonomous rice transplanter guided by global positioning system and inertial measurement unit

2009 ◽  
Vol 26 (6-7) ◽  
pp. 537-548 ◽  
Author(s):  
Yoshisada Nagasaka ◽  
Hidefumi Saito ◽  
Katsuhiko Tamaki ◽  
Masahiro Seki ◽  
Kyo Kobayashi ◽  
...  
Keyword(s):  
Global Positioning System ◽  
Inertial Measurement Unit ◽  
Measurement Unit ◽  
Positioning System ◽  
Inertial Measurement ◽  
Global Positioning

scholarly journals Vehicle location measurement method for radio-shadow area through iBeacon message

2018 ◽  
Vol 14 (11) ◽  
pp. 155014771881257
Author(s):  
ChoonSung Nam ◽  
Dong-Ryeol Shin
Keyword(s):  
Global Positioning System ◽  
Inertial Measurement Unit ◽  
Measurement Unit ◽  
Positioning System ◽  
Inertial Measurement ◽  
Location Data ◽  
Shadow Area ◽  
Global Positioning ◽  
Vehicle Location ◽  
Roadside Unit

Information communication technology related vehicle services need to support location and the transmission of communication and traffic information between vehicles, or between vehicles and infrastructure. In particular, the technology for the measurement of the accurate location of a vehicle is dependent on location-determination technology like Global Positioning System, and this technology is very important for vehicle driving and location services. If, however, a vehicle is in a Global Positioning System radio-shadow area, neither a Global Positioning System nor a Differential Global Positioning System can accurately measure the corresponding location because of a high error rate caused by the shadowing intervention. Even an Inertial Measurement Unit could provide inaccurate location data due to sensor drift faults around corners and traffic-road speed dumps. Vehicles, therefore, need an absolute location to prevent the provision of inaccurate vehicle-location data that is due to radio-shadow areas and relational Inertial Measurement Unit positions. To achieve this, we assume that vehicle-to-infrastructure communication is possible between a vehicle and roadside unit in Vehicular Ad hoc Networks. We used iBeacon at the roadside unit and revised its Universally Unique Identifier so that it generates absolute Global Positioning System location data; that is, moving vehicles can receive absolute Global Positioning System data from the roadside unit-based iBeacon. We compared the proposed method with current Global Positioning System and Inertial Measurement Unit systems for the following two cases: one with a radio-shadow area and one without. We proved that the proposed method generates location data that are more accurate than those of the other methods.

Sign in / Sign up

Export Citation Format

Share Document