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Questions tagged [inertial-navigation]

30 questions
11
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1 answer

Driving Style Detection using Smartphone Sensors

I want to measure the acceleration (forward and lateral separately) using an android smartphone device in order to be able to analyse the driving behavior/style. My approach would be as follows: 1. Aligning coordinate systems Calibration (no motion…
R. Doe
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5
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1 answer

Uneven number of samples between Accelerometer, Gyro and Magnetometer on Android

I am developing an Android app that records the inertial data on a smartphone to then further processes it. Different Android devices have different behaviors depending on the firmware interfacing the inertial sensors to Android and that's crystal…
eykiriku
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5
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2 answers

What is the structure of an indirect (error-state) Kalman filter and how are the error equations derived?

I have been trying to implement a navigation system for a robot that uses an Inertial Measurement Unit (IMU) and camera observations of known landmarks in order to localise itself in its environment. I have chosen the indirect-feedback Kalman Filter…
Gouda
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4
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1 answer

Double integrating acceleration in C++ using a 9DOF IMU with sensor fusion

I've spent a few hours doing research on numeric integration and velocity/position estimation but I couldn't really find an answer that would be either understandable by my brain or appropriate for my situation. I have an IMU (Inertial Measurement…
ImQ009
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3
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1 answer

Is it possible to determine if vehicle rolled back on slope or hill using gps or acclerometer?

I have a vehicle with a tracker installed. The device has a gps syst, 3-axis accelerometer, 3-axis magnetomet and a gyromeyet. Is it possible to determine by how much the vehicle rolled back on a slope or hill. Using gps angle wasn't an option as…
230490
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3
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1 answer

Double Integration of Acceleration into Position using 9-Axis IMU

First post on this forum, hope I'm doing this right. I know there have been several threads on double integration of acceleration in the past, and I know about the errors inherent in an accelerometer that isn't a 200k+ military grade sensor.…
Zero
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3
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1 answer

Indirect Kalman Filter for Inertial Navigation System

I'm trying to implement an Inertial Navigation System using an Indirect Kalman Filter. I've found many publications and thesis on this topic, but not too much code as example. For my implementation I'm using the Master Thesis available at the…
Alexis
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3
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1 answer

kalman filter with redundant state measurements

I am trying to implement a kalman filter for orientation detection. just like most other implementations I found online, I will be using a gyro and accelerometer to measure the pitch and roll, however I intend to also add horizon detection. This…
ganninu93
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3
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1 answer

Translate Gyroscope readings to bearing in degrees

I am trying to find the angle of rotation of a car while it makes a turn using Gyroscope from an Android device. So imagine a car is travelling in a bearing of angle 168 and makes a right turn on a road. Now I need to calculate the new heading or…
franklins
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3
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2 answers

Determining heading in Inertial Navigation Systems

I have a question regarding inertial navigation with a mobile device. I am using an android tablet for development but I think the question is related to all types (even with better sensors) of hardware. The most basic question when developing an…
Ariel
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2
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Calculating position from IMU data in cases where GPS is not available

First post here and I'm jumping in to python with both feet. My project is to attempt to calculate the position of a underwater robot using only IMU sensors and a speed table. I am very new to programming and I'm sure I'll get a lot of great…
Troy_B
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1 answer

How to integrate object space acceleration to world space position (2D)

I want to double integrate 2D acceleration data in object coordinates to get 2D position in world coordinates. The object always points in the direction of velocity (assume e.g. a train). So I tried to numerically integrate the acceleration values…
Dunkelkoon
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Position tracking, Acceleration only

i am working on a Project where i want to receive position data by using an IMU mounted on a shoe. So i found out that i have to use a kalmanfilter to get valid position data. And thats the point where i begin to struggle. The most examples use a 6…
Edwin B.
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1 answer

Calculation of Yaw, Pitch and Roll from Acceleration

I'm using an expensive equipment which measures and records the following data when I was on a ship and did some sailing: GpsTime, GyroX, GyroY, GyroZ, AccX, AccY, accZ, Heading, Pitch, Roll, Latitude Longitude, Heave, V_East, V_North, V_UP. What…
Ilan Aizelman WS
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1 answer

Forward and backward movement detection with IMU

We have an embedded device mounted in a vehicle. It has accelerometer, gyrosopce and GPS sensors on board. The goal is to distinguish when vehicle is moving forward and backward (in reverse gear). Sensor's axis are aligned with vehicle's…
Igoris
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