Pedestrian Inertial Navigation with Self-Contained Aiding. Andrei M. Shkel

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      1  Cover

      2  Title Page

      3  Copyright

      4  Author Biographies

      5  List of Figures

      6  List of Tables

      7  1 Introduction 1.1 Navigation 1.2 Inertial Navigation 1.3 Pedestrian Inertial Navigation 1.4 Aiding Techniques for Inertial Navigation 1.5 Outline of the Book References

      8  2 Inertial Sensors and Inertial Measurement Units 2.1 Accelerometers 2.2 Gyroscopes 2.3 Inertial Measurement Units 2.4 Conclusions References

      9  3 Strapdown Inertial Navigation Mechanism 3.1 Reference Frame 3.2 Navigation Mechanism in the Inertial Frame 3.3 Navigation Mechanism in the Navigation Frame 3.4 Initialization 3.5 Conclusions References

      10  4 Navigation Error Analysis in Strapdown Inertial Navigation 4.1 Error Source Analysis 4.2 IMU Error Reduction 4.3 Error Accumulation Analysis 4.4 Conclusions References

      11  5 Zero‐Velocity Update Aided Pedestrian Inertial Navigation 5.1 Zero‐Velocity Update Overview 5.2 Zero‐Velocity Update Algorithm 5.3 Parameter Selection 5.4 Conclusions References

      12  6 Navigation Error Analysis in the ZUPT‐Aided Pedestrian Inertial Navigation 6.1 Human Gait Biomechanical Model 6.2 Navigation Error Analysis 6.3 Verification of Analysis 6.4 Limitations of the ZUPT Aiding Technique 6.5 Conclusions References

      13  7 Navigation Error Reduction in the ZUPT‐Aided Pedestrian Inertial Navigation 7.1 IMU‐Mounting Position Selection 7.2 Residual Velocity Calibration 7.3 Gyroscope G‐Sensitivity Calibration 7.4 Navigation Error Compensation Results 7.5 Conclusions References

      14  8 Adaptive ZUPT‐Aided Pedestrian Inertial Navigation 8.1 Floor Type Detection 8.2 Adaptive Stance Phase Detection 8.3 Conclusions References

      15  9 Sensor Fusion Approaches 9.1 Magnetometry 9.2 Altimetry 9.3 Computer Vision 9.4 Multiple‐IMU Approach 9.5 Ranging Techniques 9.6 Conclusions References

      16  10 Perspective on Pedestrian Inertial Navigation Systems 10.1 Hardware Development 10.2 Software Development СКАЧАТЬ