Читать книгу Pedestrian Inertial Navigation with Self-Contained Aiding - Doruk Senkal, Andrei M. Shkel - Страница 4

1 Chapter 1Figure 1.1 A schematic of gimbal system..Figure 1.2 Comparison of (a) gimbal inertial navigation algorithm and (b) st...Figure 1.3 A comparison of (a) an IMU developed for the Apollo missions in 1...

2 Chapter 2Figure 2.1 The basic structure of an accelerometer.Figure 2.2 Schematics of accelerometers based on SAW devices [11], vibrating...Figure 2.3 Typical performances and applications of different gyroscopes....Figure 2.4 Schematics of a gyroscope and its different configurations [24]–[...Figure 2.5 Ideal response of a gyroscope operated in (a) open‐loop mode, (b)...Figure 2.6 Schematics of two typical IMU assembly architectures: (a) cubic s...Figure 2.7 Different mechanical structures of three‐axis gyroscopes.Figure 2.8 Examples of miniaturized IMU assembly architectures by MEMS fabri...

3 Chapter 3Figure 3.1 Block diagram of strapdown inertial navigation mechanism in the i...Figure 3.2 Block diagram of strapdown inertial navigation mechanism in the n...Figure 3.3 Relation between the gyroscope bias and yaw angle estimation erro...

4 Chapter 4Figure 4.1 Common error types in inertial sensor readouts. (a) Noise, (b) bi...Figure 4.2 A schematic of log–log plot of Allan deviation.Figure 4.3 A schematic of the IMU assembly error.Figure 4.4 Illustration of the two components of the IMU assembly error: non...Figure 4.5 Two‐dimensional strapdown inertial navigation system in a fixed f...Figure 4.6 Propagation of navigation error with different grades of IMUs.

5 Chapter 5Figure 5.1 Relation between the volumes and the navigation error in five min...Figure 5.2 Comparison of the estimated velocity of the North and estimated t...Figure 5.3 Diagram of the ZUPT‐aided pedestrian inertial navigation algorith...Figure 5.4 Velocity propagation along three orthogonal directions during the...Figure 5.5 Distribution of the final velocity along three orthogonal directi...

6 Chapter 6Figure 6.1 (a) Interpolation of joint movement data and (b) simplified human...Figure 6.2 Human ambulatory gait analysis. The light gray dots are the stati...Figure 6.3 Velocity of the parameterized trajectory. A close match is demons...Figure 6.4 Displacement of the parameterized trajectory. A close match is de...Figure 6.5 A typical propagation of errors in attitude estimations in ZUPT‐a...Figure 6.6 Effects of ARW of the gyroscopes on the velocity and angle estima...Figure 6.7 Effects of VRW of the accelerometers on the velocity and angle es...Figure 6.8 Effects of RRW of the gyroscopes on the velocity and angle estima...Figure 6.9 Relation between RRW of gyroscopes and the position estimation un...Figure 6.10 Allan deviation plot of the IMU used in this study. The result i...Figure 6.11 The navigation error results of 40 trajectories. The averaged ti...Figure 6.12 Ending points of 40 trajectories. All data points are in a recta...Figure 6.13 Autocorrelations of the , , and components of the innovation...

7 Chapter 7Figure 7.1 Possible IMU‐mounting positions.Figure 7.2 Noise characteristics of the IMUs used in the study.Figure 7.3 Comparison of averaged IMU data and ZUPT states from IMUs mounted...Figure 7.4 Navigation error of 34 tests of the same circular trajectory.Figure 7.5 Comparison of estimated trajectories and innovations from IMU mou...Figure 7.6 Experimental setup to record the motion of the foot during the st...Figure 7.7 Velocity of the foot along three directions during a gait cycle. ...Figure 7.8 Zoomed‐in view of the velocity of the foot during the stance phas...Figure 7.9 Panel (a) shows the test statistics of the same 70 steps recorded...Figure 7.10 Relation between the underestimate of trajectory length and the ...Figure 7.11 The solid line is an estimated trajectory, and the dashed line i...Figure 7.12 (a) Experimental setup to statically calibrate IMU; (b) experime...Figure 7.13 Relation between the gyroscope g‐sensitivity and the vibration f...Figure 7.14 Comparison of trajectories with and without systematic error com...Figure 7.15 Comparison of the end points with and without systematic error c...

8 Chapter 8Figure 8.1 Schematics of the algorithm discussed in this chapter. The number...Figure 8.2 An example of IMU data partition. Each partition (indicated by di...Figure 8.3 Distribution of eigenvalues of the centered data matrix after con...Figure 8.4 Relation between the misclassification rate, PCA output dimension...Figure 8.5 Confusion matrices of the floor type identification results with ...Figure 8.6 Distribution of the first two principal components of the availab...Figure 8.7 Schematics of the algorithm used in this study. The part in gray ...Figure 8.8 Navigation results with and without the floor type identification...Figure 8.9 The solid line is a typical test statistic for different walking ...Figure 8.10 The relation between the shock level and the minimum test statis...Figure 8.11 The dashed lines in dark and light gray are adaptive thresholds ...Figure 8.12 Sub figures (a) through (d) show position propagation, specific ...Figure 8.13 Relation between the navigation RMSE and fixed threshold level i...

9 Chapter 9Figure 9.1 Lab‐on‐Shoe platform. Schematic of the vision‐based foot‐to‐foot ...Figure 9.2 Schematic of the comparison of (a) one‐way ranging and (b) two‐wa...Figure 9.3 Scattering of the sound wave deteriorates the accuracy of the mea...Figure 9.4 “T” stands for transmitter and “R” stands for receiver. Only in c...Figure 9.5 (a) Experimental setup of the illustrative experiment; (b) Rangin...Figure 9.6 A comparison of results of different aiding techniques for indoor...Figure 9.7 A comparison of different aiding techniques for self‐contained na...

10 Chapter 10Figure 10.1 Our perspective of pedestrian inertial navigation system: uNavCh...