MEMS-Based IMU Drift Minimization: Sage Husa Adaptive Robust Kalman Filtering

Intelligent Control Method of Hoisting Prefabricated Components Based on Internet-of-Things

“…However, due to the accumulated error of integration, the IMU has serious drift problem in long-distance positioning [ 29 ], which is caused by the accumulated drift of accelerometer error and gyroscope error in the long distance. After two times of integrations, the displacement would drift and the positioning would be inaccurate [ 30 , 31 ]. Aiming to solve this problem, Jimenez et al [ 32 ] proposed a zero-velocity correction algorithm, which realized a multi-condition attitude detection algorithm, using information sources (accelerometer and gyroscope) and a low-pass filter.…”

Noise‐aware manoeuvring target tracking algorithm in wireless sensor networks by a novel adaptive cubature Kalman filter

“…To further improve the NSE's estimation accuracy, the ACKF's NSE is established, which has an accuracy of the third‐order Taylor expansion [38, 39]. However, the estimation accuracy of ACKFs based on this NSE is not high or even divergent when updating the statistics of measurement noise and process noise at the same time [40, 41]. At present, the NSEs that can be used to estimate measurement noise and process noise simultaneously can only achieve the first‐ and second‐order Taylor expansion estimation accuracy [42, 43].…”

Single UWB Anchor Aided PDR Heading and Step Length Correcting Indoor Localization System

“…In order to improve the properties of Micro-Electro-Mechanical System (MEMS) in pedestrian dead reckon, Hongyu Zhao et al designed a two footmounted MEME localization system [9], which relies on symmetric drift and bias characteristics of IMU sensor to delimit the range of heading angle. Nevertheless, IMU has severe bias and drift on acceleration and gyroscope readings, and according to INS velocity and position solution rules, it only tracks short distance in acceptable accuracy [10], [11]. Although the former mentioned INS solutions can improve the tracking distance at some extend, these solutions have not been tested and verified in long-term localization experiment, especially in high motion state.…”