Inertial measurement units (IMUs) are key components of various applications including navigation, robotics, aerospace, and automotive systems. IMU sensor characteristics have a significant impact on the accuracy and reliability of these applications...
The position calibration of inertial measurement units (IMUs) is an important part of human motion capture, especially in wearable systems. In realistic applications, static calibration is quickly invalid during the motions for IMUs loosely mounted o...
The paper presents the developed integrated GNSS/IMU gyrocompass which, unlike the existing systems, contains a single-axis rotating platform with two antennas installed on it and an inertial measurement unit with tactical grade fiber-optic gyros. It...
Inertial measurement units (IMUs) are promising low-cost tools for golf putting analysis, but accurate putter trajectory reconstruction remains limited by sensor errors, sensor fusion tuning, and drift accumulation during numerical integration. This...
Considering the inertial measurement unit (IMU) faults risk of an unmanned aerial vehicle (UAV), this paper provides an analysis of the error overboundings of position estimation in a tightly coupled IMU/global navigation satellite system (GNSS) inte...
In this paper, we proposed a multi-sensor integrated navigation system composed of GNSS (global navigation satellite system), IMU (inertial measurement unit), odometer (ODO), and LiDAR (light detection and ranging)-SLAM (simultaneous localization and...
This paper presents a navigation grade micro-electromechanical system (MEMS) inertial measurement unit (IMU) that was successfully applied for the first time in the Lobster-Eye X-ray Satellite in July 2020. A six-axis MEMS gyroscope redundant configu...
This paper proposes a method for combining stereo visual odometry, Light Detection And Ranging (LiDAR) odometry and reduced Inertial Measurement Unit (IMU) including two horizontal accelerometers and one vertical gyro. The proposed method starts with...
Low-cost microelectro mechanical systems (MEMS)-based inertial measurement unit (IMU) measurements are usually affected by inaccurate scale factors, axis misalignments, and g-sensitivity errors. These errors may significantly influence the performanc...
Calibration of sensors is critical for the precise functioning of lidar–IMU systems. However, the accuracy of the system can be compromised if motion distortion is not considered. This study proposes a novel uncontrolled two-step iterative cali...
The localization of persons in indoor environments is nowadays an open problem. There are partial solutions based on the deployment of a network of sensors (Local Positioning Systems or LPS). Other solutions only require the installation of an inerti...
Background: Postural transitions (PTs) are crucial for daily independence, but their assessment often relies on subjective observational scales. Inertial measurement units (IMUs) offer quantitative assessment, yet a comprehensive synthesis of methodo...
This research proposes a novel modeling method for integrating IMU arrays into multi-sensor kinematic positioning/navigation systems. This method characterizes sensor errors (biases/scale factor errors) for each IMU in an IMU array, leveraging the no...
Micro-electro-mechanical-systems (MEMS) inertial measurement unit (IMU) outputs are corrupted by significant sensor errors. The navigation errors of a MEMS-based inertial navigation system will therefore accumulate very quickly over time. This requir...
For autonomous driving, it is important to obtain precise and high-frequency localization information. This paper proposes a novel method in which the Inertial Measurement Unit (IMU), wheel encoder, and lidar odometry are utilized together to estimat...
It has been identified that the inertial system is not a completely observable system in the absence of maneuvers. Although the velocity errors and the accelerometer bias in the vertical direction can be solely observable, other error states, includi...
Real-time human movement inertial measurement unit (IMU) signals are central to many emerging medical and technological applications, yet few techniques have been proposed to process and represent this information modality in an efficient manner. In...
Smartphone camera or inertial measurement unit (IMU) sensor-based systems can be independently used to provide accurate indoor positioning results. However, the accuracy of an IMU-based localization system depends on the magnitude of sensor errors th...
This article addresses the important problem of tilt measurement and stabilization. This is particularly important in the case of drone stabilization and navigation in underwater environments, multibeam sonar mapping, aerial photogrammetry in densely...
The accuracy of satellite positioning results depends on the number of available satellites in the sky. In complex environments such as urban canyons, the effectiveness of satellite positioning is often compromised. To enhance the positioning accurac...
As an important deterministic error of the inertial measurement unit (IMU), the installation error has a serious impact on the navigation accuracy of the strapdown inertial navigation system (SINS). The impact becomes more severe in a highly dynamic...
There is an increased interest in using wearable inertial measurement units (IMUs) in clinical contexts for the diagnosis and rehabilitation of gait pathologies. Despite this interest, there is a lack of research regarding optimal sensor placement wh...
Swimming coaches provide regular timed and technical feedback to swimmers and guide them efficiently in training sessions. Due to the complexity of swimmers’ performance, which is not visible in qualitative observation, quantitative and objecti...
To improve the motion distortion caused by LiDAR data at low and medium frame rates when moving, this paper proposes an improved algorithm for scanning matching of estimated velocity that combines an IMU and odometer. First, the information of the IM...
The requirement to estimate the six degree-of-freedom pose of a moving platform frequently arises in automation applications. It is common to estimate platform pose by the fusion of global navigation satellite systems (GNSS) measurements and translat...
The research in this paper is related to the accuracy of the tilt compensation function of the GNSS/IMU receivers, which were examined in an open sky environment. The purpose of the paper is to point out to geodesists the conditions and limitations o...
In this paper, we present an analysis to identify a sensor location for an inertial measurement unit (IMU) on the body of a skier and propose the best location to capture turn motions for training. We also validate the manner in which the data from t...
Light detection and ranging (LiDAR) is one of the popular technologies to acquire critical information for building information modelling. To allow an automatic acquirement of building information, the first and most important step of LiDAR technolog...
The stable and accurate output of the inertial measurement unit array (IMU) of a micro-electro-mechanical system (MEMS) is the key to ensuring the data fusion of the MEMS IMU array. However, due to the large number of MEMS IMUs contained in the MEMS...
For solving the problem of polar performance of the inertial navigation system (INS) at mid-low latitudes, the simulation test system constructed by the “attitude and velocity invariant method of trajectory transfer rule based on the transverse...
Strapdown airborne gravimeters based on a navigation-grade inertial measurement unit (IMU) are highly sensitive to perturbations during aircraft flight, especially in the case of flights in draped mode (at a constant altitude above the terrain) or dr...
Multi-sensor fusion systems involving Light Detection and Ranging (LiDAR), cameras, and inertial measurement units (IMUs) have been widely adopted in fields such as autonomous driving and robotics due to their complementary perception capabilities. T...
Golf swing segmentation with inertial measurement units (IMUs) is an essential process for swing analysis using wearables. However, no attempt has been made to apply machine learning models to estimate and divide golf swing phases. In this study, we...
For Measurement While Drilling (MWD), the redundant Micro-Electro-Mechanical Systems Inertial Measurement Unit (MEMS-IMU) navigation system significantly enhances the reliability and accuracy of drill string attitude measurements. Such an enhancement...
With the rapid development of Internet of Things (IoT) technologies, traditional disease diagnoses carried out in medical institutions can now be performed remotely at home or even ambient environments, yielding the concept of the Internet of Health...
Real-time kinematic (RTK) technique is widely used in modern society because of its high accuracy and real-time positioning. The appearance of Android P and the application of BCM47755 chipset make it possible to use single-frequency RTK and dual-fre...
The location of objects is a growing research topic due, for instance, to the expansion of civil drones or intelligent vehicles. This expansion was made possible through the development of microelectromechanical systems (MEMS), inexpensive and miniat...
Wheelchair sports have been using Inertial Measurement Units (IMU) to measure mobility metrics during training, testing and competition. Presently, the most suitable solution to calculate wheelchair speed and frame rotation is the 3IMU method as ther...
Nowadays, accurate and robust localization is preliminary for achieving a high autonomy for robots and emerging applications. More and more, sensors are fused to guarantee these requirements. A lot of related work has been developed, such as visual-i...
IMU preintegration technology has been widely used in the optimization-based sensor fusion framework, in order to avoid reintegrating the high-frequency IMU measurements at each iteration and maintain the ability of bias correction when bias estimati...
Ultra-wideband (UWB) technology has been widely applied to indoor positioning due to its high-precision ranging. In practical indoor scenarios, inertial measurement units (IMUs) are commonly fused with UWB to suppress measurement errors caused by non...
Inertial measurement units (IMUs) need sensor-to-segment calibration to measure human kinematics. Multiple methods exist, but, when assessing populations with locomotor function pathologies, multiple limitations arise, including holding postures (lim...
Calibration of body-worn inertial measurement units (IMUs) is essential for accurate motion estimation, yet sensor orientations may drift over time due to slippage or long-term integration errors. This causes an IMU to gradually lose alignment with t...
The use of inertial measurement units (IMUs) as an alternative to optical marker-based systems has the potential to make gait analysis part of the clinical standard of care. Previously, an IMU-based system leveraging Rauch–Tung–Striebel s...
In the field of high accuracy strapdown inertial navigation system (SINS), the inertial measurement unit (IMU) biases can severely affect the navigation accuracy. Traditionally we use Kalman filter (KF) to estimate those biases. However, KF is an unb...
The micro-electro-mechanical-system (MEMS) inertial measurement unit (IMU) has been widely used in the field of inertial navigation due to its small size, low cost, and light weight, but aligning MEMS IMUs remains a challenge for researchers. MEMS IM...
This study presents the filter design of GNSS/IMU integration for wearable EPTS (Electronic Performance and Tracking System) of football players. EPTS has been widely used in sports fields recently, and GNSS (Global Navigation Satellite System) and I...
Relative orientation estimation between the hand and its fingers is important in many applications, such as virtual reality (VR), augmented reality (AR) and rehabilitation. It is still quite a big challenge to do the estimation by only exploiting ine...
The inertial measurement unit (IMU)-to-segment (I2S) alignment is an important part of IMU-based joint angle estimation, and the accurate estimation of the three degree of freedom (3-DOF) knee angle can provide practical support for the evaluation of...
This study introduces a hybrid sensor fusion approach that integrates Schreiber’s nonlinear filter with traditional filtering methods to enhance the performance of IMU-based systems in autonomous vehicles. As autonomous vehicles grow more depen...
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