Browsing by Author "Moore T."
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Publication Increased error observability of an inertial Pedestrian navigation system by rotating IMU(Institute for Research and Community Services, Institut Teknologi Bandung, 2014) ;Abdulrahim K. ;Hide C. ;Moore T. ;Hill C. ;Universiti Sains Islam Malaysia (USIM)University of NottinghamIndoor pedestrian navigation suffers from the unavailability of useful GNSS signals for navigation. Often a low-cost non-GNSS inertial sensor is used to navigate indoors. However, using only a low-cost inertial sensor for the system degrades its performance due to the low observability of errors affecting such low-cost sensors. Of particular concern is the heading drift error, caused primarily by the unobservability of z-axis gyro bias errors, which results in a huge positioning error when navigating for more than a few seconds. In this paper, the observability of this error is increased by proposing a method of rotating the inertial sensor on its y-axis. The results from a field trial for the proposed innovative method are presented. The method was performed by rotating the sensor mechanically-mounted on a shoe-on a single axis. The method was shown to increase the observability of z-axis gyro bias errors of a low-cost sensor. This is very significant because no other integrated measurements from other sensors are required to increase error observability. This should potentially be very useful for autonomous low-cost inertial pedestrian navigation systems that require a long period of navigation time. � 2014 Published by ITB Journal Publisher. - Some of the metrics are blocked by yourconsent settings
Publication Investigating the use of rotating foot mounted inertial sensors for positioning(2012) ;Hide C. ;Moore T. ;Hill C. ;Abdulrahim K. ;University of NottinghamUniversiti Sains Islam Malaysia (USIM)Foot mounted inertial sensors have been used in recent literature to provide high accuracy positioning through the use of zero velocity updates (ZUPT) every time the user takes a step. When only ZUPTs are used, the remaining positioning errors are primarily a result of heading drift due to poor observability. This paper demonstrates that a single axis rotation of an Inertial Measurement Unit (IMU) provides improved observability of IMU accelerometer and gyro biases. In particular, all gyro biases become observable when the IMU is rotated about a single horizontal axis. This results in a significant reduction of heading errors and hence also improves positioning accuracy. This paper first presents results using simulated data from a static environment to verify observability of bias states. The paper then describes the results from a physical implementation of a rotating IMU platform that is attached to a user's shoe. It is demonstrated that maximum position errors are significantly reduced to less than 1.3m over three trials for the rotating IMU compared to 12.4m for the non-rotating IMU. - Some of the metrics are blocked by yourconsent settings
Publication Rotating a mems inertial measurement unit for a foot-mounted pedestrian navigation(Science Publications, 2014) ;Abdulrahim K. ;Hide C. ;Moore T. ;Hill C. ;Faculty of Science and Technology ;Universiti Sains Islam Malaysia (USIM)University of NottinghamPedestrian navigation especially indoors suffers from the unavailability of useful GNSS signals for positioning. Alternatively, a low-cost Inertial Measurement Unit (IMU) positioning system that does not depend on the GNSS signal can be used for indoor navigation. However its performance is still compromised because of the fastaccumulating heading drift error affecting such a low-cost IMU sensor. This results in a huge positioning error when navigating more than a few seconds using only the low-cost sensor. In this study, real field trials results are presented when a foot-mounted IMU is rotated on a single axis. Two promising results have been obtained. First, it mitigates the heading drift error significantly and second, it increases the observability of IMU z-axis gyro bias error. This has resulted in a greatly reduced error in position for the low-cost pedestrian navigation system. � 2014 K. Abdulrahim et al.