The Global Positioning System (GPS) is a worldwide navigation system that requires a clear line of sight to the orbiting satellites. For land vehicle navigation, a clear line of sight cannot be maintained all the time as the vehicle can travel through tunnels, under bridges, forest canopies or within urban canyons. In such situations, the augmentation of GPS with other systems is necessary for continuous navigation. Inertial sensors can determine the motion of a body with respect to an inertial frame of reference. Traditionally, inertial systems are bulky, expensive and controlled by government regulations. Micro-electro mechanical systems (MEMS) inertial sensors are compact, small, inexpensive and most importantly, not controlled by governmental agencies due to their large error characteristics. Consequently, these sensors are the perfect candidate for integrated civilian navigation applications with GPS. However, these sensors need to be calibrated to remove the major part of the deterministic sensor errors before they can be used to accurately and reliably bridge GPS signal gaps. A new multi-position calibration method was designed for MEMS of high to medium quality. The method does not require special aligned mounting and has been adapted to compensate for the primary sensor errors, including the important scale factor and non-orthogonality errors of the gyroscopes. A turntable was used to provide a strong rotation rate signal as reference for the estimation of these errors. Two different quality MEMS IMUs were tested in the study. The calibration results were first compared directly to those from traditional calibration methods, e.g. six-position and rate test. Then the calibrated parameters were applied in three datasets of GPS/INS field tests to evaluate their accuracy indirectly by comparing the position drifts during short-term GPS signal outages.

Navigation involves the integration of methodologies and systems for estimating the time varying position and attitude of moving objects. Inertial Navigation Systems (INS) and the Global Positioning System (GPS) are among the most widely used navigation systems. The use of cost effective MEMS based inertial sensors has made GPS/INS integrated navigation systems more affordable. However MEMS sensors suffer from various errors that have to be calibrated and compensated to get acceptable navigation results. Moreover the performance characteristics of these sensors are highly dependent on the environmental conditions such as temperature variations. Hence there is a need for the development of accurate, reliable and efficient thermal models to reduce the effect of these errors that can potentially degrade the system performance. In this paper, the Allan variance method is used to characterize the noise in the MEMS sensors. A six-position calibration method is applied to estimate the deterministic sensor errors such as bias, scale factor, and non-orthogonality. An efficient thermal variation model is proposed and the effectiveness of the proposed calibration methods is investigated through a kinematic van test using integrated GPS and MEMS-based inertial measurement unit (IMU).

Understanding of the considerable variation in action potential (AP) shape throughout the heart is necessary to explain normal and pathological cardiac function. Existing mathematical models reproduce typical APs, but not all measured APs, as fitting the sets of non-linear equations is a tedious process. The study describes the integration of a pre-existing mathematical model of an atrial cell AP with a genetic algorithm to provide an automated tool to generate APs for arbitrary cells by fitting ionic channel conductances. Using the Nygren model as the base, the technique was first verified by starting with random values and fitting the Nygren model to itself with an error of only 0.03%. The Courtemanche model, which has a different morphology from that of the Nygren model, was successfully fitted. The AP duration restitution curve generated by the fit matched that of the target model very well. Finally, experimentally recorded APs were reproduced. To match AP duration restitution behaviour properly, it was necessary simultaneously to fit over several stimulation frequencies. Also, fitting of the upstroke was better if the stimulating current pulse replicated that found in situ as opposed to a rectangular pulse. In conclusion, the modelled parameters were successfully able to reproduce any given atrial AP. This tool can be useful for determining parameters in new AP models, reproducing specific APs, as well as determining the locus of drug action by examining changes in conductance values.

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