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A method for post-mission velocity and orientation estimation based on data fusion from MEMS-IMU and GNSS

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Yksityiskohdat

AlkuperäiskieliEnglanti
OtsikkoMultisensor Fusion and Information Integration for Intelligent Systems (MFI), 2017 International Conference on
KustantajaIEEE
Sivut576-580
Sivumäärä5
ISBN (elektroninen)978-1-5090-6064-1
DOI - pysyväislinkit
TilaJulkaistu - 11 joulukuuta 2017
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
TapahtumaIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems -
Kesto: 1 tammikuuta 2000 → …

Conference

ConferenceIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
Ajanjakso1/01/00 → …

Tiivistelmä

INS and GNSS integrated systems have become widespread as a result of low-cost MEMS inertial sensor technology. However, the accuracy of computed velocity and orientation is not sufficient for some applications, e.g. performance and technique monitoring and evaluation in sports. Significant accuracy improvements can be made by post-mission data processing. The approach is based on fixed-lag Rauch-Tung- Striebel smoothing algorithm and provides a simple and effective solution to misalignment correction. The potential velocity accuracy is about 0.02 m/s and pitch/roll accuracy is about 0.02 deg. This algorithm was tested for walking and running. The proposed approach could also be used for accurate velocity and orientation estimation in other applications including different sports, e.g. rowing, paddling, cross-country and downhill skiing, ski jump etc.

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