NDLI: Improvement of angular velocity and position estimation in gyro-free inertial navigation based on vision aid equipment

Content Provider	IET Digital Library
Author	Dehghani, Mehdi Kharrati, Hamed Seyedarabi, Hadi Baradarannia, Mahdi
Abstract	In conventional navigation systems, inertial sensors consist of accelerometers and gyroscopes. These sensors suffer from in-built errors, accumulated drift and high-level noise sensitivity. The accurate gyroscopes are expensive and not suitable in cost-effective applications. To minimise such disadvantages, one solution is the combination of inertial sensors with different aiding sensors. To lower the cost, utilisation of redundant accelerometer structure as gyro-free inertial measurement unit (GFIMU) has been proposed. In this study, Gyro-Free navigation errors using four tri-axial accelerometers are illustrated. Compensation of errors in terms of angular velocity and position estimation is verified based on adding a simple gyroscope, inexpensive stereo cameras as well as creating an easy to use topological map. The topological map is easily created by means of scale-invariant feature transform method. The estimation of angular velocity is corrected on the basis of fusing the measurements from GFIMU and a simple gyroscope using unscented Kalman filter. The correction of position is performed by comparing the estimated position from GFIMU and observation of stereo cameras together with topological map. The results of the research show that the collaboration of GFIMU, stereo cameras and simple gyroscope will improve the robustness and accuracy of navigation, significantly.
Starting Page	261
Ending Page	275
Page Count	15
ISSN	17519632
Volume Number	12
e-ISSN	17519640
Issue Number	Issue 3, Apr (2018)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cvi/12/3
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cvi.2017.0128
Journal	IET Computer Vision
Publisher Date	2017-10-24
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Acceleration Angular Velocity Estimation Angular Velocity Measurement Camera Compensation Function Theory And Analysis GFIMU Gyrofree Inertial Measurement Unit Gyrofree Inertial Navigation System Gyroscope Gyroscopes Image Sonsor Inertial Navigation System Inertial Sensor Integral Transforms Kalman Filter Nonlinear Filter Position Estimation Position Measurement Redundant Accelerometer Structure Rotation Measurement Scale-invariant Feature Transform Method Spatial Variables Measurement Stability Stereo Camera Transform Triaxial Accelerometer Unscented Kalman Filter Velocity Vision Aid Equipment
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Innovative estimation method with measurement likelihood for all-accelerometer type inertial navigation system

A square root unscented Kalman filter for multiple view geometry based stereo cameras/inertial navigation

Attitude Estimation by Multiple-Mode Kalman Filters

A Kalman/Particle Filter-Based Position and Orientation Estimation Method Using a Position Sensor/Inertial Measurement Unit Hybrid System

Fusing Inertial Sensor Data in an Extended Kalman Filter for 3D Camera Tracking

Observing Relative Motion With Three Accelerometer Triads

Simultaneous filter tuning and calibration of the camera and inertial measurement unit camera for a vision inertial navigation system

Mobile robot indoor dual Kalman filter localisation based on inertial measurement and stereo vision

Confidence analysis of feature points for visual-inertial odometry of urban vehicles

Improvement of angular velocity and position estimation in gyro-free inertial navigation based on vision aid equipment

Similar Documents

Innovative estimation method with measurement likelihood for all-accelerometer type inertial navigation system

A square root unscented Kalman filter for multiple view geometry based stereo cameras/inertial navigation

Attitude Estimation by Multiple-Mode Kalman Filters

A Kalman/Particle Filter-Based Position and Orientation Estimation Method Using a Position Sensor/Inertial Measurement Unit Hybrid System

Fusing Inertial Sensor Data in an Extended Kalman Filter for 3D Camera Tracking

Observing Relative Motion With Three Accelerometer Triads

Simultaneous filter tuning and calibration of the camera and inertial measurement unit camera for a vision inertial navigation system

Mobile robot indoor dual Kalman filter localisation based on inertial measurement and stereo vision

Confidence analysis of feature points for visual-inertial odometry of urban vehicles

Improvement of angular velocity and position estimation in gyro-free inertial navigation based on vision aid equipment