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 74 for “"Inertial Measurement Unit (IMU)"”.
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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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Multirotor UAS Sense and Avoid with Sensor Fusion
… This exploration is driven by dynamic simulation and post-processing of real-world data. A sensor suite comprised of a 3D Light Detection and Ranging (LIDAR) sensor, visual camera, and 9 Degree of Freedom (DOF) Inertial Measurement Unit (IMU) was found to be beneficial to autonomous UAS …
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Fusion of non-visual and visual sensors for human tracking
… we firstly investigate the application of Inertial Measurement Unit (IMU) from mobile devices to human activity recognition and human tracking, we then develop novel persistent human tracking and indoor localization algorithms by the fusion of non-visual sensors and visual sensors, which …
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Autonomous quadrotor unmanned aerial vehicle for culvert inspection
… data, as well as the data from the quadrotor's Inertial Measurement Unit (IMU). This data is combined into a single estimate of the current state (position, orientation, velocity, angular velocity, and acceleration) of the quadrotor by an Extended Kalman Filter (EKF). This new state estimate …
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Kalman filtering of IMU sensor for robot balance control
… study explores the use of Kalman filtering of measurements from an inertial measurement unit (IMU) to provide information on the orientation of a robot for balance control. A test bed was created to characterize the random noise and errors inherent to orientation sensing in the MicroStrain …
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Digital Video Stabilization with Inertial Fusion
… a digital stabilization method that incorporates inertial fusion with a Kalman filter. The camera motion is derived visually by tracking SIFT features in the video feed and fitting them to an affine model. The digital motion is fused with a 3 axis rotational motion measured by an inertial …
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Techniques in Kalman Filtering for Autonomous Vehicle Navigation
… with global position system (GPS) receivers, an inertial measurement unit (IMU), and wheel speed sensors (WSS) using the framework of Kalman filtering (KF). To demonstrate the flexibility of the KF several methods are explored and implemented such as constraints, multi-rate data, and cascading …
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MEMS IMU navigation with model based dead-reckoning and one-way-travel-time acoustic range measurements for 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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Inertial measurement unit calibration using Full Information Maximum Likelihood Optimal Filtering
The robustness of Full Information Maximum 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 …
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A Hardware-Minimal Unscented Kalman Filter Framework for Visual-Inertial Navigation of Small Unmanned Aircraft
… specially designed for a quadcopter carrying an Inertial Measurement Unit (IMU) and a downward-facing camera. The UKF fuses data from each of these sensors to track the position of the quadcopter over time. This work supports a number of similar efforts in the robotics and aerospace communities …
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Flight Regime and Maneuver Recognition for Complex Maneuvers
… fixed wing airplane using measured data from an Inertial Measurement Unit (IMU). Flight Regime Recognition (FRR) is required for numerous applications in the aerospace and aviation industry, including the determination of loads for stress and strain analysis. It can also be used in recreational …
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Adapting Monte Carlo Localization to Utilize Floor and Wall Texture Data
… Floor textures are determined by using an inertial measurement unit (IMU) to capture acceleration vectors which represent the roughness of the floor. Captured texture data is classified by an artificial neural network and used in probability calculations.</p> <p>The best variations of …
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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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Autonomous navigation and tracking of dynamic surface targets on-board a computationally impoverished aerial vehicle
… capture system which provides ground truth state measurements. The vision system is integrated into the control scheme to allow the quadrotor to track an iCreate. Additionally, an Extended Kalman Filter (EKF) fuses the vision system position estimates with attitude and acceleration measurements …
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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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Environment Mapping in Larger Spaces
… environments using a combination of a camera, Inertial Measurement Unit (IMU), and Light Detection and Ranging (LIDAR) devices supported by sensor fusion and computer vision techniques. There are three main parts to the proposed system. The first part is data collection and data fusion using …
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Enhancing Quadruped Robot Design With Intelligent Physics-Informed Neural Network-Assisted Dynamic State Estimation and Active Spine Integration
… This approach effectively calibrates the Inertial Measurement Unit (IMU), mitigates IMU drift through constraints applied via Ordinary Differential Equations, and eliminates the need for external contact sensors by identifying terrain interactions, improving odometry, and operational …
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Vision-Aided Navigation for Autonomous Vehicles Using Tracked Feature Points
… and feature extraction algorithms using an inertial measurement unit (IMU) and an image capture device (camera) mounted on a ground robot and a quadrotor UAV. The vision-aided navigation algorithms are implemented on data-collected from sensors on an unmanned ground vehicle and a quadrotor, …
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Development and Validation of Wearable Systems for Human Postural Sway Analysis
… the processes involved with designing an Inertial Measurement Unit (IMU) including the rational behind the choice of parts and assembly of the board. The final sensor developed (Mini-Logger) was validated for sway acquisition in laboratory setting. Further the novel sensor was tested on …
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