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Abstract: This paper proposes a non-magnetic framework to calibrate the Inertial Measurement Unit (IMU) based on Total Station. The IMU consists of magnetometer, accelerator and gyroscope. The potential errors are analyzed and raw data of the IMU is preprocessed effectively.
An inertial measurement unit (IMU) is an electronic device that measures and reports a body's specific force, angular rate, and sometimes the orientation of the body, using a combination of accelerometers, gyroscopes, and sometimes magnetometers.Nowadays, along with the development of micro fabrication technology,themanufacturinglevelofmicroinertialdevices has increased, which sprung up the production of Micro Inertial Measurement Unit (MIMU). In general, MIMU contains three Microelectromechan- ical Systems (MEMS) gyroscopes and accelerometers ().Therefore, the multibody system dynamics model of laser gyro strap-down inertial measurement unit is regarded as a multi-rigid-flexible body system which is a combination of eight rigid bodies and one nonuniform elastic beam connected by space springs, torsion springs, and dampers in parallel. Figure 1.
Inertial measurement units were carefully affixed to the chest, upper arm, forearm, wrist, and waist (Figure 4) with standard body tape, such as sports pre-wrap. Figure 4: Nodes initially applied to player (left) and fully taped up during data taking (right).Read More
Many inertial measurement units have been utilized for research, health rehabilitation or sport tracking purposes. A detailed summary of the IMUs employed in these fields is presented in this section. Two main groups of IMUs are distinguished, on the one hand, those which only provide and store raw data from their inertial MEMS and, on the other hand, those which provide results of an.Read More
This paper presents a novel topology for enhanced vibration sensing in which wireless MEMS accelerometers embedded within a hollow rotor measure vibration in a synchronously rotating frame of reference. Theoretical relations between rotor-embedded accelerometer signals and the vibration of the rotor in an inertial reference frame are derived.Read More
IMUs (Inertial Measurement Units) are very popular sensors in robotics: among others, they have been exploited for inertial-only navigation (1), attitude estimation (2), and visual-inertial navigation (3), (4), also using a smartphone device (5). IMUs used in robotics are usually based on MEMS (micro electro mechanical systems) technology. They are composed by a set of tri-axial clusters: an.Read More
This paper presents a methodology for a reliable comparison among Inertial Measurement Units or attitude estimation devices in a Vicon environment.Read More
Abstract—In this paper, we present a wireless micro inertial measurement unit (IMU) with the smallest volume and weight requirements available at the moment. With a size of 18mm x 16mm x 4mm, this IMU provides full control over the data of a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer. It meets the design prerequisites of a space-saving design and.Read More
Accuracy and repeatability of single-pose calibration of inertial measurement units for whole-body motion analysis Robert-Lachaine, X. Mecheri, H. Larue, C. Plamondon, A. Read more.Read More
Abstract Applications of inertial measurement units are extremely diverse, and are expected to see a further increase in number due to current trends in robotics as well as recent advances in Micro Electromechanical sensors (MEMS).Read More
Engineering, Computer Science The International Journal of Robotics Research This paper discusses the development of a low-cost, redundant, strapdown inertial measurement unit (IMU). The unit comprises four ceramic vibrating structure gyroscopes and four QLC 400 accelerometers configured on a truncated tetrahedron design.Read More
ASC-15 for Titan II. The first inertial guidance system for the Titan II was built by AC Spark Plug, and included an inertial measurement unit based on designs from Draper Labs at MIT, and the ASC-15 computer designed and built by IBM in Owego, NY.The first Titan II missile carrying this system was launched 16 March 1962. Acquiring spares for this system became difficult, and the Air Force.Read More