TY - GEN
T1 - Accounting for sensor drift in miniature, wireless inertial measurement and positioning systems
T2 - IET Irish Signals and Systems Conference, ISSC 2010
AU - Girardin, Y.
AU - Walsh, M.
AU - Torres, J.
AU - Barton, J.
AU - O'Flynn, B.
AU - O'Mathuna, C.
PY - 2010
Y1 - 2010
N2 - This work describes the design and development of a location aware, wireless inertial measurement system incorporating Kalman Filtering based real-time correction for sensor drift. The Tyndall prototyping mote is employed as a wireless sensor networking platform and its suitability as a flexible architecture for a wide range of applications is highlighted. The system comprises of an Inertial Measurement Unit (IMU) with 3 axis gyroscopes, accelerometers and magnotometers and a newly developed 25 mm Global Positioning Satellite (GPS) transceiver interface layer. A methodology for fusioning GPS and IMU data is presented highlighting how an extended Kalman filter can be employed to re-calibrate the IMU in realtime, correcting for sensor drift. A Labview based visualisation tool is described enabling real-time analysis of GPS, IMU, Kalman Filter and correction data. Finally some initial experimental results are presented highlighting the effectiveness of the system.
AB - This work describes the design and development of a location aware, wireless inertial measurement system incorporating Kalman Filtering based real-time correction for sensor drift. The Tyndall prototyping mote is employed as a wireless sensor networking platform and its suitability as a flexible architecture for a wide range of applications is highlighted. The system comprises of an Inertial Measurement Unit (IMU) with 3 axis gyroscopes, accelerometers and magnotometers and a newly developed 25 mm Global Positioning Satellite (GPS) transceiver interface layer. A methodology for fusioning GPS and IMU data is presented highlighting how an extended Kalman filter can be employed to re-calibrate the IMU in realtime, correcting for sensor drift. A Labview based visualisation tool is described enabling real-time analysis of GPS, IMU, Kalman Filter and correction data. Finally some initial experimental results are presented highlighting the effectiveness of the system.
KW - GPS
KW - Inertial Measurement
KW - Kalman Filtering
UR - https://www.scopus.com/pages/publications/78649620609
U2 - 10.1049/cp.2010.0522
DO - 10.1049/cp.2010.0522
M3 - Conference proceeding
AN - SCOPUS:78649620609
SN - 9781849192521
T3 - IET Conference Publications
SP - 255
EP - 260
BT - IET Irish Signals and Systems Conference, ISSC 2010
Y2 - 23 June 2010 through 24 June 2010
ER -