AR-Marker/IMU Hybrid Navigation System for Tether-Powered UAV

2018 ◽  
Vol 30 (1) ◽  
pp. 76-85 ◽  
Author(s):  
Hiroaki Nakanishi ◽  
Hiroyuki Hashimoto ◽  
◽  
Keyword(s):  
Navigation System ◽  
Inertial Measurement Unit ◽  
Analytic Solution ◽  
Position Estimation ◽  
Measurement Unit ◽  
Depth Information ◽  
The Difference ◽  
Yaw Angle ◽  
Uav Navigation ◽  
Navigation Method

Electrically powered unmanned aerial vehicles (UAV) are useful in performing inspection at various infrastructures or plants. A power supply through a tether cable is effective in extending flight time. During inspection activities, some or all satellites may be occluded. UAVs for inspection must be operated even in GPS-denied areas; therefore, a navigation system for GPS-denied areas is required. Depth information cannot be obtained correctly by a monocular camera. The ARToolkit, which is widely applied in augmented reality (AR), is not sufficient as a UAV navigation system. We have proposed a hybrid navigation method that integrates the ARToolkit and an inertial measurement unit (IMU). An analytic solution for both the worst and best estimation of yaw angle can be obtained by simple computation and helps remove outliers in measurements. From experimental results, it was proven that position estimation using the proposed method corresponded reasonably; however, it was necessary to correct the difference between the camera origin and the body’s center of gravity.

scholarly journals A Novel Monitoring Navigation Method for Cold Atom Interference Gyroscope

Sensors ◽  
2019 ◽  
Vol 19 (2) ◽  
pp. 222 ◽  
Author(s):  
Lin Zhang ◽  
Wei Gao ◽  
Qian Li ◽  
Runbing Li ◽  
Zhanwei Yao ◽  
...  
Keyword(s):  
Navigation System ◽  
Inertial Measurement Unit ◽  
Cold Atom ◽  
Measurement Unit ◽  
Simulation Test ◽  
Filtering Technique ◽  
High Dynamic ◽  
Novel Design ◽  
Navigation Method

The implementation principle of a typical three-pulse cold atom interference gyroscope is introduced in this paper. Based on its configuration and current research status, the problems of cold atom interference gyro are pointed out. The data-rate is insufficient, and it is difficult to achieve high dynamic measurement. Then, based on these two limitations, a novel design of the monitoring navigation system of the cold atom interference gyroscope (CAIG) and an intermediate-grade inertial measurement unit (IMU) was proposed to obtain the long-term position result without GPS signals, such as the Inertial Navigation System (INS) in underwater vehicles. While the CAIG was used as the external gyro, the bias of IMU and the misalignment angle between the CAIG-frame and the IMU-frame are obtained through filtering technique. The simulation test and field test demonstrated the improvements of the long-term positioning accuracy of the INS.

scholarly journals A Walking-in-Place Method for Virtual Reality Using Position and Orientation Tracking

Sensors ◽  
2018 ◽  
Vol 18 (9) ◽  
pp. 2832 ◽  
Author(s):  
Juyoung Lee ◽  
Sang Chul Ahn ◽  
Jae-In Hwang
Keyword(s):  
Virtual Reality ◽  
Inertial Measurement Unit ◽  
Recognition Rate ◽  
Head Tilt ◽  
The Body ◽  
Measurement Unit ◽  
Position And Orientation ◽  
Intentional Motion ◽  
Navigation Method ◽  
Virtual Velocity

People are interested in traveling in an infinite virtual environment, but no standard navigation method exists yet in Virtual Reality (VR). The Walking-In-Place (WIP) technique is a navigation method that simulates movement to enable immersive travel with less simulator sickness in VR. However, attaching the sensor to the body is troublesome. A previously introduced method that performed WIP using an Inertial Measurement Unit (IMU) helped address this problem. That method does not require placement of additional sensors on the body. That study proved, through evaluation, the acceptable performance of WIP. However, this method has limitations, including a high step-recognition rate when the user does various body motions within the tracking area. Previous works also did not evaluate WIP step recognition accuracy. In this paper, we propose a novel WIP method using position and orientation tracking, which are provided in the most PC-based VR HMDs. Our method also does not require additional sensors on the body and is more stable than the IMU-based method for non-WIP motions. We evaluated our method with nine subjects and found that the WIP step accuracy was 99.32% regardless of head tilt, and the error rate was 0% for squat motion, which is a motion prone to error. We distinguish jog-in-place as “intentional motion” and others as “unintentional motion”. This shows that our method correctly recognizes only jog-in-place. We also apply the saw-tooth function virtual velocity to our method in a mathematical way. Natural navigation is possible when the virtual velocity approach is applied to the WIP method. Our method is useful for various applications which requires jogging.

A Design of MIMU/GPS Integrated Navigation System

2013 ◽  
Vol 278-280 ◽  
pp. 1719-1722 ◽  
Author(s):  
Xiao Yu Zhang ◽  
Chun Lei Song
Keyword(s):  
Navigation System ◽  
Inertial Measurement Unit ◽  
High Performance ◽  
Inertial Navigation System ◽  
Measurement Unit ◽  
Integrated Navigation ◽  
Test Results ◽  
Simulation Test ◽  
Integrated Navigation System ◽  
Navigation Algorithm

A new scheme of small integrated navigation system based on micro inertial measurement unit (MIMU), global position system (GPS) is presented. The characteristic of these sensors and the structure of system are introduced respectively. The TI high performance floating point DSP TMS320C6713B is used as core processor, which is designed to realize both the data collecting and the navigation calculating. According to the error models of inertial navigation system, an integrated navigation algorithm used Kalman filter is proposed to fuse the information from all of the sensors. The simulation test results show the feasibility of the system design.

Sign in / Sign up

Export Citation Format

Share Document