Two new journal articles on inertial navigation

Our navigation research group is proud to announce two fresh Transaction articles. Inertial navigation is based on gyroscope and accelerometer measurements to define the movement of a person or vehicle. This is very useful method when satellite positioning cannot be used, e.g. indoors. However, a fundamental problem is that errors caused by sensors accumulate over time.

Significant error reduction is achieved with proposed filtering and signal processing methods. In the first paper, the sensor are intentionally rotated, e.g. by attaching them to car wheels. In the other, particle filtering and house floorplan information are used to accurately locate a walking person.

Normally gyroscope errors (y-axis) accumulate significantly over time (x-axis). Proposed carouseling scheme (thick grey line) reduces this notably.

Normally gyroscope errors (y-axis) accumulate significantly over time (x-axis). Proposed carouseling scheme (thick grey line) reduces this notably. [Collin 2014]

Navigation prototype system: inertial measurement unit (IMU) and Terrestrail Trunked Radio (TETRA) carried by personnel on the left and the server devices on the right side.

Navigation prototype system: inertial measurement unit (IMU) and Terrestrail Trunked Radio (TETRA) carried by personnel on the left and the server devices on the right side.

 

Collin, J., M. Kirkko-Jaakkola, and J. Takala (2014) “Effect of Carouseling on Angular Rate Sensor Error Processes”, IEEE Transactions on Instrumentation and Measurement (link to pdf )

Perttula, A., H. Leppäkoski, M. Kirkko-Jaakkola, P. Davidson, J. Collin, and J. Takala (2014) “Distributed Indoor Positioning System with Inertial Measurements and Map Matching”, IEEE Transactions on Instrumentation and Measurement (link to pdf)

More information is available at Navigation group’s home page

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