Smoothing for ZUPT-aided INSs
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| Title: | Smoothing for ZUPT-aided INSs |
|---|---|
| Authors: | Simón Colomar, David, Nilsson, John-Olof, Händel, Peter |
| Source: | 2012 International Conference on Indoor Positioning and Indoor Navigation (IPIN). :1-5 |
| Publisher Information: | IEEE, 2012. |
| Publication Year: | 2012 |
| Subject Terms: | Data set, Real-time application, Smoothing algorithms, State estimates, Signalbehandling, Off-line processing, 02 engineering and technology, Error covariances, 01 natural sciences, Inertial sensor, 0104 chemical sciences, Dead reckoning, Signal Processing, 0202 electrical engineering, electronic engineering, information engineering |
| Description: | Due to the recursive and integrative nature of zero-velocity-update-aided (ZUPT-aided) inertial navigation systems (INSs), the error covariance increases throughout each ZUPT-less period followed by a drastic decrease and large state estimate corrections as soon as ZUPTs are applied. For dead-reckoning with foot-mounted inertial sensors, this gives undesirable discontinuities in the estimated trajectory at the end of each step. However, for many applications, some degree of lag can be tolerated and the information provided by the ZUPTs at the end of a step can be made available throughout the step, eliminating the discontinuities. For this purpose, we propose a smoothing algorithm for ZUPT-aided INSs. For near real-time applications, smoothing is applied to the data in a step-wise manner requiring a suggested varying-lag segmentation rule. For complete off-line processing, full data set smoothing is examined. Finally, the consequences and impact of smoothing are analyzed and quantified based on real-data. |
| Document Type: | Article Conference object |
| File Description: | application/pdf |
| DOI: | 10.1109/ipin.2012.6418869 |
| Access URL: | http://kth.diva-portal.org/smash/get/diva2:575835/FULLTEXT01 http://www.diva-portal.org/smash/record.jsf?pid=diva2:575835 https://ieeexplore.ieee.org/document/6418869/ http://ieeexplore.ieee.org/document/6418869/ https://dblp.uni-trier.de/db/conf/ipin/ipin2012.html#ColomarNH12 http://www.diva-portal.org/smash/get/diva2:575835/FULLTEXT01.pdf http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-107414 |
| Accession Number: | edsair.doi.dedup.....a6b77cf4ac622d93c696bd3a5a74f44d |
| Database: | OpenAIRE |
Nájsť tento článok vo Web of Science | Abstract: | Due to the recursive and integrative nature of zero-velocity-update-aided (ZUPT-aided) inertial navigation systems (INSs), the error covariance increases throughout each ZUPT-less period followed by a drastic decrease and large state estimate corrections as soon as ZUPTs are applied. For dead-reckoning with foot-mounted inertial sensors, this gives undesirable discontinuities in the estimated trajectory at the end of each step. However, for many applications, some degree of lag can be tolerated and the information provided by the ZUPTs at the end of a step can be made available throughout the step, eliminating the discontinuities. For this purpose, we propose a smoothing algorithm for ZUPT-aided INSs. For near real-time applications, smoothing is applied to the data in a step-wise manner requiring a suggested varying-lag segmentation rule. For complete off-line processing, full data set smoothing is examined. Finally, the consequences and impact of smoothing are analyzed and quantified based on real-data. |
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| DOI: | 10.1109/ipin.2012.6418869 |