Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 129 for “"Inertial Measurement Unit"”.
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MEMS IMU inertial measurement unit one-way-travel-time inertial measurement unit autonomous underwater vehicles
… XY position error. Additionally, advances in inertial sensor technology have drastically lowered the size, power consumption, and cost of these sensors. Nonetheless, these sensors are still noisy and accrue error over time. This thesis builds on the research and recent developments in single …
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An inertial measurement unit for user interfaces
Inertial measurement components, which sense either acceleration or angular rate, are being embedded into common user interface devices more frequently as their cost continues to drop dramatically. These devices hold a number of advantages over other sensing technologies: they measure relevant …
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Using a gimbal to calibrate an inertial measurement unit
In this thesis, an inertial measurement unit (IMU) consisting of 3 accelerometers and 3 rate gyros is created using off-the-shelf sensors from STMicro and Analog Devices. A novel technique for calibrating the orientation, position, scaling and offset of each of the sensors on the IMU is developed. …
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Inertial measurement unit calibration using Full Information Maximum Likelihood Optimal Filtering
… Likelihood Optimal Filtering (FIMLOF) for inertial measurement unit (IMU) calibration in high-g centrifuge environments is considered. FIMLOF uses an approximate Newton's Method to identify Kalman Filter parameters such as process and measurement noise intensities. Normally, IMU process …
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A novel inertial measurement unit-based device for capturing upper extremity biomechanics
The student, Andrew Hua, submitted this Dissertation for approval on 2019-10-31 at 10:21.
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Extended Kalman filtering applied to a full accelerometer strapdown inertial measurement unit
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1992.
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Characterization of inertial measurement unit placement on the human body upon repeated donnings
… wearable motion capture systems that make use of Inertial Measurement Units (IMUs). The accuracy of any algorithm incorporating these sensors is limited by the accuracy of the sensor to segment calibration. In this study, 22 participants self-placed IMUs on three locations and performed six …
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Evaluating Alternative Inertial Measurement Unit Locations on the Body for Slip Recovery Measures
… to experimentally-controlled conditions. Inertial measurement units (IMUs) show promise as a portable and wearable form of motion capture. This study had two objectives. First, we investigated whether foot and ankle IMU-derived slip recovery measures could be considered equivalent to the …
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Validation of an Inertial-Measurement-Unit System for Calculating Hip and Knee Flexion Angles During Gait
<p>Technological advances regarding Inertial Measurements Units (IMUs) have positioned this type of sensor as an alternative for camera-based motion capture. This study introduces a new IMU based system (IMU<sub>sys</sub>) to measure hip and knee flexion angles. PURPOSE: To validate the use of a …
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Using a Single inertial measurement unit to measure the knee flexion angle at touchdown in side cutting movements
… previous researchers have investigated using inertial measurement units to calculate joint angles, only a few studies can be found that were conducted using a single inertial measurement unit (IMU) to measure the joint angles. Furthermore, there have been a few previous studies that used a …
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Approaches to optimal inertial instrument calibration using slewing
Calibration of an inertial measurement unit is important to the success of accuracy-sensitive missions. This thesis analyzes calibration techniques for two inertial measurement mechanizations: (1) an inertially stabilized system and (2) an inertially referenced slew. An inertially referenced slew …
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Development of an Omni-directional Gait Generator and a Stabilization Feedback Controller for Humanoid Robots
… achieves stable walking using feedback from an inertial measurement unit. Our walking engine generates gaits for which the zero moment point is on the center of the supporting foot. The mechanical structure of CHARLI-L, a humanoid robot used as our test platform in this thesis, is first …
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Evaluation of four rugged long-term velocity measurement methods for assessment of hydrokinetic energy production
… when deployed over a long-term period for measurements at energetic sites. Velocity data is required to predict the 95% confidence interval of the power production from hydrokinetic turbines at potential river sites. This novel measurement buoy measures flow velocities inferred from the …
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Kalman filtering for aided inertial navigation system
… develops a Kalman filter which integrates the inertial navigation system of the Vorticity Control Unmanned Undersea Vehicle (VCUUV) with redundant navigation sensor measurements. The model for the Kalman filter uses redundant measurements in a feedback loop to better estimate navigation …
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An improved model-based observer for inertial navigation for quadrotors with low cost IMUs
… thesis, we present a model-based observer for inertial navigation of quadrotors and other multirotor aircraft. We include in our model a Coriolis term that has been neglected in prior work. Doing so allows us to estimate the entire velocity vector in the quadrotor's frame of …
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Assessing multi-rotor UAV controllability in low altitude fine-scale wind fields
… Utilizing only rotor revolutions per second and inertial measurement unit information, the metric indicates degraded control in conditions consistent with loss of control. This metric may ultimately be useful in understanding the low level wind environment, for certification of vehicles, or for …
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Development of a 3-D pen input device
… air while correcting integration errors from the measurements of the IMU (Inertial Measurement Unit) of the pen-type input devices. With the core topic of obtaining the acceleration while correcting integration errors, there are four subsidiary research questions relating to the pentype input …
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Method for Kalman Filtering Pose Estimates from Lidar Scans During the Landing Phase
… of sensor fusion system that combines Inertial Measurement Unit measurements with relative pose data extracted from Lidar scans using an Extended Kalman Filter. The results show that the proposed system can accurately estimate the state in the Z and X axes while further improvements are …
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Tip-up and stabilization of an autonomous four-wheeled vehicle
… Domino microcontroller and a MicroStrain 3DM-GX2 inertial measurement unit. Data logged during experimental trials were analyzed in MATLAB to assess the stability and effectiveness of the controller. Experimental results indicate the controller is capable of driving the vehicle to the tipped-up …
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Developing methods and algorithms of sensor fusion by IMUs applied to service robotics
The importance of research in Inertial Navigation Systems (INS) has been growing in recent years. Usually the IMU is used in inertial navigation, such as UAV, AGV, AUV, but it is also used in games, human movement reconstruction (the use of sensors in the studies of human movement is now quickly …
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