scholarly journals A Fast SINS Initial Alignment Method Based on RTS Forward and Backward Resolution

2017 ◽  
Vol 2017 ◽  
pp. 1-11 ◽  
Author(s):  
Houzeng Han ◽  
Jian Wang ◽  
Mingyi Du
Keyword(s):  
Data Processing ◽  
Inertial Sensors ◽  
Inertial Sensor ◽  
Simulation Studies ◽  
Initial Alignment ◽  
High Quality ◽  
Data Set ◽  
Iterative Processing ◽  
Gyro Bias ◽  
Real Test

For the strapdown inertial navigation system (SINS), the procedure of initial alignment is a necessity before the navigation can commence. On the quasi-stationary base, the self-alignment can be fulfilled with the high quality inertial sensors, and the fine alignment is usually executed to improve the alignment performance. Generally, fast estimating of heading misalignment is still a challenge due to the existence of gyro errors. An innovative data processing strategy called forward and backward resolution is proposed for INS initial alignment. The Rauch-Tung-Striebel (RTS) smoothing is applied to obtain the smoothed attitude estimates with the filter information provided by the forward data processing. The obtained attitudes are then treated as aiding measurements to implement the forward resolution with the repeated data set, the converged sensor biases are used as constraints, and the iterative processing is conducted to obtain the updated attitudes. Simulation studies have been conducted to validate the proposed algorithm. The results have shown that the alignment accuracy and convergence rate have been improved with the added RTS aided forward and backward resolution; more stable heading estimates can be obtained by calibrating with estimated gyro bias. A real test with a high quality inertial sensor was also carried out to validate the effectiveness of the proposed algorithm.

scholarly journals A Rapid Transfer Alignment Method for SINS Based on the Added Backward-Forward SINS Resolution and Data Fusion

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Xixiang Liu ◽  
Xiaosu Xu ◽  
Yiting Liu ◽  
Lihui Wang
Keyword(s):  
Data Fusion ◽  
Reference Data ◽  
Inertial Sensor ◽  
Sensor Data ◽  
Alignment Method ◽  
Initial Alignment ◽  
Transfer Alignment ◽  
Gyro Bias ◽  
Sensor Errors ◽  
Rapid Transfer

Two viewpoints are given: (1) initial alignment of strapdown inertial navigation system (SINS) can be fulfilled with a set of inertial sensor data; (2) estimation time for sensor errors can be shortened by repeated data fusion on the added backward-forward SINS resolution results and the external reference data. Based on the above viewpoints, aiming to estimate gyro bias in a shortened time, a rapid transfer alignment method, without any changes for Kalman filter, is introduced. In this method, inertial sensor data and reference data in one reference data update cycle are stored, and one backward and one forward SINS resolutions are executed. Meanwhile, data fusion is executed when the corresponding resolution ends. With the added backward-forward SINS resolution, in the above mentioned update cycle, the estimating operations for gyro bias are added twice, and the estimation time for it is shortened. In the ship swinging condition, with the “velocity plus yaw” matching, the effectiveness of this method is proved by the simulation.

scholarly journals Reference in-vitro dataset for inertial-sensor-to-bone alignment applied to the tibiofemoral joint

2021 ◽  
Vol 8 (1) ◽  
Author(s):  
Ive Weygers ◽  
Manon Kok ◽  
Thomas Seel ◽  
Darshan Shah ◽  
Orçun Taylan ◽  
...  
Keyword(s):  
Inertial Sensors ◽  
Inertial Sensor ◽  
Ground Truth ◽  
Transformation Matrices ◽  
True Model ◽  
Advance Research ◽  
Manual Palpation ◽  
Visualization Tools ◽  
Inertial Measurements

AbstractSkin-attached inertial sensors are increasingly used for kinematic analysis. However, their ability to measure outside-lab can only be exploited after correctly aligning the sensor axes with the underlying anatomical axes. Emerging model-based inertial-sensor-to-bone alignment methods relate inertial measurements with a model of the joint to overcome calibration movements and sensor placement assumptions. It is unclear how good such alignment methods can identify the anatomical axes. Any misalignment results in kinematic cross-talk errors, which makes model validation and the interpretation of the resulting kinematics measurements challenging. This study provides an anatomically correct ground-truth reference dataset from dynamic motions on a cadaver. In contrast with existing references, this enables a true model evaluation that overcomes influences from soft-tissue artifacts, orientation and manual palpation errors. This dataset comprises extensive dynamic movements that are recorded with multimodal measurements including trajectories of optical and virtual (via computed tomography) anatomical markers, reference kinematics, inertial measurements, transformation matrices and visualization tools. The dataset can be used either as a ground-truth reference or to advance research in inertial-sensor-to-bone-alignment.

scholarly journals Smartphone-Based Inertial Odometry for Blind Walkers

Sensors ◽  
2021 ◽  
Vol 21 (12) ◽  
pp. 4033
Author(s):  
Peng Ren ◽  
Fatemeh Elyasi ◽  
Roberto Manduchi
Keyword(s):  
Particle Filtering ◽  
Inertial Sensors ◽  
State Of The Art ◽  
Inertial Sensor ◽  
Mean Shift ◽  
Gait Pattern ◽  
Comparative Assessment ◽  
Pedestrian Tracking ◽  
Step Counter ◽  
Assisted Navigation

Pedestrian tracking systems implemented in regular smartphones may provide a convenient mechanism for wayfinding and backtracking for people who are blind. However, virtually all existing studies only considered sighted participants, whose gait pattern may be different from that of blind walkers using a long cane or a dog guide. In this contribution, we present a comparative assessment of several algorithms using inertial sensors for pedestrian tracking, as applied to data from WeAllWalk, the only published inertial sensor dataset collected indoors from blind walkers. We consider two situations of interest. In the first situation, a map of the building is not available, in which case we assume that users walk in a network of corridors intersecting at 45° or 90°. We propose a new two-stage turn detector that, combined with an LSTM-based step counter, can robustly reconstruct the path traversed. We compare this with RoNIN, a state-of-the-art algorithm based on deep learning. In the second situation, a map is available, which provides a strong prior on the possible trajectories. For these situations, we experiment with particle filtering, with an additional clustering stage based on mean shift. Our results highlight the importance of training and testing inertial odometry systems for assisted navigation with data from blind walkers.

scholarly journals Inertial Sensor Reliability and Validity for Static and Dynamic Balance in Healthy Adults: A Systematic Review

Sensors ◽  
2021 ◽  
Vol 21 (15) ◽  
pp. 5167
Author(s):  
Nicky Baker ◽  
Claire Gough ◽  
Susan J. Gordon
Keyword(s):  
Systematic Review ◽  
Discriminant Validity ◽  
Inertial Sensors ◽  
Postural Sway ◽  
Inertial Sensor ◽  
Dynamic Balance ◽  
Healthy Adults ◽  
Gait Velocity ◽  
Time Data ◽  
Targeted Interventions

Compared to laboratory equipment inertial sensors are inexpensive and portable, permitting the measurement of postural sway and balance to be conducted in any setting. This systematic review investigated the inter-sensor and test-retest reliability, and concurrent and discriminant validity to measure static and dynamic balance in healthy adults. Medline, PubMed, Embase, Scopus, CINAHL, and Web of Science were searched to January 2021. Nineteen studies met the inclusion criteria. Meta-analysis was possible for reliability studies only and it was found that inertial sensors are reliable to measure static standing eyes open. A synthesis of the included studies shows moderate to good reliability for dynamic balance. Concurrent validity is moderate for both static and dynamic balance. Sensors discriminate old from young adults by amplitude of mediolateral sway, gait velocity, step length, and turn speed. Fallers are discriminated from non-fallers by sensor measures during walking, stepping, and sit to stand. The accuracy of discrimination is unable to be determined conclusively. Using inertial sensors to measure postural sway in healthy adults provides real-time data collected in the natural environment and enables discrimination between fallers and non-fallers. The ability of inertial sensors to identify differences in postural sway components related to altered performance in clinical tests can inform targeted interventions for the prevention of falls and near falls.

scholarly journals Text Mining of Hazard and Operability Analysis Reports Based on Active Learning

Processes ◽  
2021 ◽  
Vol 9 (7) ◽  
pp. 1178
Author(s):  
Zhenhua Wang ◽  
Beike Zhang ◽  
Dong Gao
Keyword(s):  
Active Learning ◽  
Named Entity Recognition ◽  
Entity Recognition ◽  
Chemical System ◽  
Chemical Safety ◽  
High Quality ◽  
Data Set ◽  
Final Model ◽  
Named Entity ◽  
Sampling Algorithms

In the field of chemical safety, a named entity recognition (NER) model based on deep learning can mine valuable information from hazard and operability analysis (HAZOP) text, which can guide experts to carry out a new round of HAZOP analysis, help practitioners optimize the hidden dangers in the system, and be of great significance to improve the safety of the whole chemical system. However, due to the standardization and professionalism of chemical safety analysis text, it is difficult to improve the performance of traditional models. To solve this problem, in this study, an improved method based on active learning is proposed, and three novel sampling algorithms are designed, Variation of Token Entropy (VTE), HAZOP Confusion Entropy (HCE) and Amplification of Least Confidence (ALC), which improve the ability of the model to understand HAZOP text. In this method, a part of data is used to establish the initial model. The sampling algorithm is then used to select high-quality samples from the data set. Finally, these high-quality samples are used to retrain the whole model to obtain the final model. The experimental results show that the performance of the VTE, HCE, and ALC algorithms are better than that of random sampling algorithms. In addition, compared with other methods, the performance of the traditional model is improved effectively by the method proposed in this paper, which proves that the method is reliable and advanced.

scholarly journals Facing the needs for clean bicycle data – a bicycle-specific approach of GPS data processing

2021 ◽  
Vol 13 (1) ◽  
Author(s):  
Sven Lißner ◽  
Stefan Huber
Keyword(s):  
Data Processing ◽  
Gps Data ◽  
Data Set ◽  
Specific Data ◽  
Driving Mode ◽  
Mode Detection ◽  
Current State ◽  
Mode Recognition ◽  
Recorded Data ◽  
Gps Tracks

Abstract Background GPS-based cycling data are increasingly available for traffic planning these days. However, the recorded data often contain more information than simply bicycle trips. GPS tracks resulting from tracking while using other modes of transport than bike or long periods at working locations while people are still tracking are only some examples. Thus, collected bicycle GPS data need to be processed adequately to use them for transportation planning. Results The article presents a multi-level approach towards bicycle-specific data processing. The data processing model contains different steps of processing (data filtering, smoothing, trip segmentation, transport mode recognition, driving mode detection) to finally obtain a correct data set that contains bicycle trips, only. The validation reveals a sound accuracy of the model at its’ current state (82–88%).

scholarly journals A Physical Activity Reference Data-Set Recorded from Older Adults Using Body-Worn Inertial Sensors and Video Technology—The ADAPT Study Data-Set

Sensors ◽  
2017 ◽  
Vol 17 (3) ◽  
pp. 559 ◽  
Author(s):  
Alan Bourke ◽  
Espen Ihlen ◽  
Ronny Bergquist ◽  
Per Wik ◽  
Beatrix Vereijken ◽  
...  
Keyword(s):  
Physical Activity ◽  
Older Adults ◽  
Reference Data ◽  
Inertial Sensors ◽  
Study Data ◽  
Video Technology ◽  
Data Set

scholarly journals Detection Capability Verification and Performance Test for the High Resolution Imaging Camera of China’s Tianwen-1 Mission

2021 ◽  
Vol 217 (6) ◽  
Author(s):  
Wei Yan ◽  
Jianjun Liu ◽  
Xin Ren ◽  
Chunlai Li ◽  
Qiang Fu ◽  
...  
Keyword(s):  
High Resolution ◽  
Data Processing ◽  
High Resolution Imaging ◽  
Martian Surface ◽  
Detection Capability ◽  
High Quality ◽  
Mars Exploration ◽  
Imaging Camera ◽  
High Resolution Images ◽  
Resolution Imaging

AbstractHigh-resolution optical cameras have always been important scientific payloads in Mars exploration missions, which can obtain detailed images of Martian surface for the study of geomorphology, topography and geological structure. At present, there are still many challenges for Mars high-resolution images in terms of global coverage, stereo coverage (especially for colour images), and data processing methods. High Resolution Imaging Camera (HiRIC) is a high-quality, multi-mode, multi-functional, multi-spectral remote sensing camera that is suitable for the deep space developed for China’s first Mars Exploration Mission (Tianwen-1), which was successfully launched in July 2020. Here we design special experiments based on the in-orbit detection conditions of Tianwen-1 mission to comprehensively verify the detection capability and the performance of HiRIC, from the aspects of image motion compensation effect, focusing effect, image compression quality, and data preprocessing accuracy. The results showed that the performance status of HiRIC meets the requirements of obtaining high resolution images on the Martian surface. Furthermore, proposals for HiRIC in-orbit imaging strategy and data processing are discussed to ensure the acquisition of high-quality HiRIC images, which is expected to serve as a powerful complementation to the current Mars high-resolution images.

scholarly journals Finger and foot tapping sensor system for objective motor assessment

2018 ◽  
Vol 75 (1) ◽  
pp. 68-77 ◽  
Author(s):  
Milica Djuric-Jovicic ◽  
Nenad Jovicic ◽  
Sasa Radovanovic ◽  
Milica Jecmenica-Lukic ◽  
Minja Belic ◽  
...  
Keyword(s):  
Healthy Subjects ◽  
Motor Performance ◽  
Graphical Representation ◽  
Inertial Sensors ◽  
Inertial Sensor ◽  
Quantitative Estimation ◽  
Objective Assessment ◽  
Force Sensor ◽  
Neurological Patient ◽  
Foot Tapping

Background/Aim. Finger tapping test is commonly used in neurological examinations as a test of motor performance. The new system comprising inertial and force sensors and custom proprietary software was developed for quantitative estimation and assessment of finger and foot tapping tests. The aim of this system was to provide diagnosis support and objective assessment of motor function. Methods. Miniature inertial sensors were placed on fingertips and used for measuring finger movements. A force sensor was placed on the fingertip of one finger, in order to measure the force during tapping. For foot tapping assessment, an inertial sensor was mounted on the subject?s foot, which was placed above a force platform. By using this system, various parameters such as a number of taps, tapping duration, rhythm, open and close speed, the applied force and tapping angle, can be extracted for detailed analysis of a patient?s motor performance. The system was tested on 13 patients with Parkinson?s disease and 14 healthy controls. Results. The system allowed easy measurement of listed parameters, and additional graphical representation showed quantitative differences in these parameters between neurological patient and healthy subjects. Conclusion. The novel system for finger and foot tapping test is compact, simple to use and efficiently collects patient data. Parameters measured in patients can be compared to those measured in healthy subjects, or among groups of patients, or used to monitor progress of the disease, or therapy effects. Created data and scores could be used together with the scores from clinical tests, providing the possibility for better insight into the diagnosis.

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