A personal inertial-navigation system based on multiple distributed, nine-degrees-of-freedom, inertial measurement units
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Authors
Johnson, Cole C.
Subjects
personal navigation
inertial sensor
gyroscope
magnetometer
accelerometer
attitude heading and reference system
quaternion algorithm
inertial measurement unit
complementary filter
gait phase detection
zero velocity update
MEMS
IMU
AHRS
GPS denied
distributed sensor
virtual sensor
fusion
network-centric warfare
navigation warfare
electronic warfare
jamming
Reticle
inertial sensor
gyroscope
magnetometer
accelerometer
attitude heading and reference system
quaternion algorithm
inertial measurement unit
complementary filter
gait phase detection
zero velocity update
MEMS
IMU
AHRS
GPS denied
distributed sensor
virtual sensor
fusion
network-centric warfare
navigation warfare
electronic warfare
jamming
Reticle
Advisors
Yun, Xiaoping
Date of Issue
2016-12
Date
Dec-16
Publisher
Monterey, California: Naval Postgraduate School
Language
Abstract
The use of inertial-measurement units (IMUs) for personal navigation is investigated in this thesis. IMUs lack a position-finding algorithm that optimally blends sensor data to achieve high accuracy in a GPS-denied environment. In this research, software and a methodology for tracking position using body-mounted IMUs, building on a gait-phase detection algorithm and quaternion-based complementary filter developed at the Naval Postgraduate School, is developed. The performance of a consumer-grade nine-degrees-of-freedom IMU is characterized and alternative sensor placements evaluated to determine optimal mounting location or locations. Measurements were fused from gyroscope, accelerometer, and magnetometer sensors to create a single, virtual IMU. In addition, measurements from a distributed system of IMUs, as well as multiple co-located IMUs, were averaged to find performance enhancements. Software was developed to streamline and integrate position solutions into a larger network of capabilities. Results show that the foot is the optimal mounting location, and other placements degrade performance. Averaging measurements from multiple IMUs at one location improves performance but with diminishing returns as the number of IMUs increase. We recommend that multiple IMUs be printed on the same MEMS circuit board to achieve accuracy by fusing the measurements of co-located sensors.
Type
Thesis
Description
Series/Report No
Department
Electrical and Computer Engineering (ECE)
Organization
Identifiers
NPS Report Number
Sponsors
Funder
Format
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.