Introduction to Inertial Navigation

Adams, Douglas E.

doi:10.1017/s0373463300036341

Cited by 42 publications

(43 citation statements)

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“…There are two main hardware layouts that can be used in an indoor situation: (1) a sensor network, such as a WiFi or ZigBee system [ 6 , 7 , 8 ]; and (2) self-contained sensors, such as gyroscopes, accelerometers or magnetometers [ 9 , 10 , 11 , 12 ]. However, the stringent demands of reliable and continuous navigation in indoor environments are unlikely to be achievable using a single type of layout, and developing a hybrid scheme for reliable and continuous positioning is therefore a core prerequisite for real-time indoor navigation [ 13 , 14 , 15 ].…”

Section: Introductionmentioning

confidence: 99%

A Floor-Map-Aided WiFi/Pseudo-Odometry Integration Algorithm for an Indoor Positioning System

Jian

Liu

et al. 2015

Sensors

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This paper proposes a scheme for indoor positioning by fusing floor map, WiFi and smartphone sensor data to provide meter-level positioning without additional infrastructure. A topology-constrained K nearest neighbor (KNN) algorithm based on a floor map layout provides the coordinates required to integrate WiFi data with pseudo-odometry (P-O) measurements simulated using a pedestrian dead reckoning (PDR) approach. One method of further improving the positioning accuracy is to use a more effective multi-threshold step detection algorithm, as proposed by the authors. The “go and back” phenomenon caused by incorrect matching of the reference points (RPs) of a WiFi algorithm is eliminated using an adaptive fading-factor-based extended Kalman filter (EKF), taking WiFi positioning coordinates, P-O measurements and fused heading angles as observations. The “cross-wall” problem is solved based on the development of a floor-map-aided particle filter algorithm by weighting the particles, thereby also eliminating the gross-error effects originating from WiFi or P-O measurements. The performance observed in a field experiment performed on the fourth floor of the School of Environmental Science and Spatial Informatics (SESSI) building on the China University of Mining and Technology (CUMT) campus confirms that the proposed scheme can reliably achieve meter-level positioning.

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Section: Introductionmentioning

confidence: 99%

A Floor-Map-Aided WiFi/Pseudo-Odometry Integration Algorithm for an Indoor Positioning System

Jian

Liu

et al. 2015

Sensors

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“…P REVIOUS published papers on inertial guidance have considered the problem of navigating at constant altitude over the earth's surface in aircraft, ships or submarines (1)(2)(3)(4)(5). 3 Although one of the first applications of inertial guidance was in the German V-2 missile, the use of inertial systems for rocket-propelled missiles has apparently had little discussion.…”

Section: Introductionmentioning

confidence: 99%

Inertial Guidance for Rocket-Propelled Missiles

Russell

1958

Journal of Jet Propulsion

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The basie elements of inertial guidance systems primarily intended for rocket-propelled missiles are explained. Precision gyroscopes, accelerometers and stabilized platforms are described. Guidance schemes appropriate to ballistic missiles are discussed and a trajectory for the German V-2 rocket is presented as an example. The problem of gravity computation is considered and the effect of instrument errors is explored. A missile steering computer and a rocket motor shut-off computer are given for the V-2 rocket which is used as an example. Numerical values of coefficients are calculated for the sample trajectory.

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“…Until the past few years inertia navigation has been a little known subject due to a cloak of security; but recently a number of informative reports and articles have been published, notably those by Adams (1) , Schnerb ,2) and Klass (3) , all published during 1956. Moreover, many of the components of inertial systems have emerged from the early development stage, during which they were largely monitored by military agencies, and may now be purchased with a guaranteed performance specification.…”

Section: Introductionmentioning

confidence: 99%

Some Design Problems in Inertia Navigation

Cawood¹

1958

J. R. Aeronaut. Soc.

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Until the past few years inertia navigation has been a little known subject due to a cloak of security; but recently a number of informative reports and articles have been published, notably those by Adams, Schnerb, and Klass, all published during 1956. Moreover, many of the components of inertial systems have emerged from the early development stage, during which they were largely monitored by military agencies, and may now be purchased with a guaranteed performance specification.

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Introduction to Inertial Navigation

Cited by 42 publications

References 1 publication

A Floor-Map-Aided WiFi/Pseudo-Odometry Integration Algorithm for an Indoor Positioning System

A Floor-Map-Aided WiFi/Pseudo-Odometry Integration Algorithm for an Indoor Positioning System

Inertial Guidance for Rocket-Propelled Missiles

Some Design Problems in Inertia Navigation

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