Pedestrian Inertial Navigation with Self Contained Aiding 1st Edition by Andrei M Shkel, Yusheng Wang ISBN 9781119699552 111969955X

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Product details:

ISBN 10: 111969955X
ISBN 13: 9781119699552
Author: Andrei M Shkel, Yusheng Wang

Pedestrian Inertial Navigation with Self Contained Aiding 1st Edition Table of contents:

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

2 Inertial Sensors and Inertial Measurement Units

2.1 Accelerometers

2.2 Gyroscopes

2.3 Inertial Measurement Units

2.4 Conclusions

References

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

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

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

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

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

8 Adaptive ZUPT‐Aided Pedestrian Inertial Navigation

8.1 Floor Type Detection

8.2 Adaptive Stance Phase Detection

8.3 Conclusions

References

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

10 Perspective on Pedestrian Inertial Navigation Systems

10.1 Hardware Development

10.2 Software Development

10.3 Conclusions

References

Index

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Tags: Andrei M Shkel, Yusheng Wang, Pedestrian Inertial Navigation, Self Contained Aiding