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Produktbild: Pedestrian Inertial Navigation with Self-Contained Aiding

Pedestrian Inertial Navigation with Self-Contained Aiding

Aus der Reihe IEEE Press Series on Sensors

108,99 €

inkl. gesetzl. MwSt., Versandkostenfrei

Beschreibung

Produktdetails

Einband

Taschenbuch

Erscheinungsdatum

30.07.2021

Verlag

John Wiley & Sons

Seitenzahl

192

Maße (L/B/H)

22,9/15,2/1 cm

Gewicht

284 g

Auflage

1. Auflage

Sprache

Englisch

ISBN

978-1-119-69955-2

Beschreibung

Produktdetails

Einband

Taschenbuch

Erscheinungsdatum

30.07.2021

Verlag

John Wiley & Sons

Seitenzahl

192

Maße (L/B/H)

22,9/15,2/1 cm

Gewicht

284 g

Auflage

1. Auflage

Sprache

Englisch

ISBN

978-1-119-69955-2

Herstelleradresse

Libri GmbH
Europaallee 1
36244 Bad Hersfeld
DE

Email: gpsr@libri.de

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  • Produktbild: Pedestrian Inertial Navigation with Self-Contained Aiding
  • Author Biographies xi
     
    List of Figures xiii
     
    List of Tables xix
     
    1 Introduction 1
     
    1.1 Navigation 1
     
    1.2 Inertial Navigation 2
     
    1.3 Pedestrian Inertial Navigation 5
     
    1.3.1 Approaches 6
     
    1.3.2 IMU Mounting Positions 7
     
    1.3.3 Summary 8
     
    1.4 Aiding Techniques for Inertial Navigation 9
     
    1.4.1 Non-self-contained Aiding Techniques 9
     
    1.4.1.1 Aiding Techniques Based on Natural Signals 9
     
    1.4.1.2 Aiding Techniques Based on Artificial Signals 10
     
    1.4.2 Self-contained Aiding Techniques 11
     
    1.5 Outline of the Book 13
     
    References 13
     
    2 Inertial Sensors and Inertial Measurement Units 17
     
    2.1 Accelerometers 17
     
    2.1.1 Static Accelerometers 17
     
    2.1.2 Resonant Accelerometers 19
     
    2.2 Gyroscopes 21
     
    2.2.1 Mechanical Gyroscopes 21
     
    2.2.2 Optical Gyroscopes 22
     
    2.2.2.1 Ring Laser Gyroscopes 22
     
    2.2.2.2 Fiber Optic Gyroscopes 23
     
    2.2.3 Nuclear Magnetic Resonance Gyroscopes 24
     
    2.2.4 MEMS Vibratory Gyroscopes 24
     
    2.2.4.1 Principle of Operation 25
     
    2.2.4.2 Mode of Operation 25
     
    2.2.4.3 Error Analysis 27
     
    2.3 Inertial Measurement Units 28
     
    2.3.1 Multi-sensor Assembly Approach 28
     
    2.3.2 Single-Chip Approach 29
     
    2.3.3 Device Folding Approach 30
     
    2.3.4 Chip-Stacking Approach 31
     
    2.4 Conclusions 32
     
    References 32
     
    3 Strapdown Inertial Navigation Mechanism 37
     
    3.1 Reference Frame 37
     
    3.2 Navigation Mechanism in the Inertial Frame 38
     
    3.3 Navigation Mechanism in the Navigation Frame 40
     
    3.4 Initialization 41
     
    3.4.1 Tilt Sensing 42
     
    3.4.2 Gyrocompassing 43
     
    3.4.3 Magnetic Heading Estimation 44
     
    3.5 Conclusions 45
     
    References 45
     
    4 Navigation Error Analysis in Strapdown Inertial Navigation 47
     
    4.1 Error Source Analysis 47
     
    4.1.1 Inertial Sensor Errors 48
     
    4.1.2 Assembly Errors 51
     
    4.1.3 Definition of IMU Grades 53
     
    4.1.3.1 Consumer Grade 54
     
    4.1.3.2 Industrial Grade 54
     
    4.1.3.3 Tactical Grade 55
     
    4.1.3.4 Navigation Grade 55
     
    4.2 IMU Error Reduction 55
     
    4.2.1 Six-Position Calibration 55
     
    4.2.2 Multi-position Calibration 57
     
    4.3 Error Accumulation Analysis 57
     
    4.3.1 Error Propagation in Two-Dimensional Navigation 58
     
    4.3.2 Error Propagation in Navigation Frame 61
     
    4.4 Conclusions 62
     
    References 63
     
    5 Zero-Velocity Update Aided Pedestrian Inertial Navigation 65
     
    5.1 Zero-Velocity Update Overview 65
     
    5.2 Zero-Velocity Update Algorithm 68
     
    5.2.1 Extended Kalman Filter 68
     
    5.2.2 EKF in Pedestrian Inertial Navigation 70
     
    5.2.3 Zero-Velocity Update Implementation 70
     
    5.3 Parameter Selection 73
     
    5.4 Conclusions 76
     
    References 76
     
    6 Navigation Error Analysis in the ZUPT-Aided Pedestrian Inertial Navigation 79
     
    6.1 Human Gait Biomechanical Model 79
     
    6.1.1 Foot Motion in Torso Frame 80
     
    6.1.2 Foot Motion in Navigation Frame 80
     
    6.1.3 Parameterization of Trajectory 81
     
    6.2 Navigation Error Analysis 83
     
    6.2.1 Starting Point 83
     
    6.2.2 Covariance Increase During Swing Phase 84
     
    6.2.3 Covariance Decrease During the Stance Phase 87
     
    6.2.4 Covariance Level Estimation 88
     
    6.2.5 Observations 92
     
    6.3 Verification of Analysis 93
     
    6.3.1 Numerical Verification 93