liu.seSök publikationer i DiVA
Ändra sökning
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Sensor Fusion and Calibration of Inertial Sensors, Vision, Ultra-Wideband and GPS
Linköpings universitet, Institutionen för systemteknik, Reglerteknik. Linköpings universitet, Tekniska högskolan.
2011 (Engelska)Doktorsavhandling, monografi (Övrigt vetenskapligt)
Abstract [en]

The usage of inertial sensors has traditionally been confined primarily to the aviation and marine industry due to their associated cost and bulkiness. During the last decade, however, inertial sensors have undergone a rather dramatic reduction in both size and cost with the introduction of MEMS technology. As a result of this trend, inertial sensors have become commonplace for many applications and can even be found in many consumer products, for instance smart phones, cameras and game consoles. Due to the drift inherent in inertial technology, inertial sensors are typically used in combination with aiding sensors to stabilize andimprove the estimates. The need for aiding sensors becomes even more apparent due to the reduced accuracy of MEMS inertial sensors.

This thesis discusses two problems related to using inertial sensors in combination with aiding sensors. The first is the problem of sensor fusion: how to combine the information obtained from the different sensors and obtain a good estimate of position and orientation. The second problem, a prerequisite for sensor fusion, is that of calibration: the sensors themselves have to be calibrated and provide measurement in known units. Furthermore, whenever multiple sensors are combined additional calibration issues arise, since the measurements are seldom acquired in the same physical location and expressed in a common coordinate frame. Sensor fusion and calibration are discussed for the combination of inertial sensors with cameras, UWB or GPS.

Two setups for estimating position and orientation in real-time are presented in this thesis. The first uses inertial sensors in combination with a camera; the second combines inertial sensors with UWB. Tightly coupled sensor fusion algorithms and experiments with performance evaluation are provided. Furthermore, this thesis contains ideas on using an optimization based sensor fusion method for a multi-segment inertial tracking system used for human motion capture as well as a sensor fusion method for combining inertial sensors with a dual GPS receiver.

The above sensor fusion applications give rise to a number of calibration problems. Novel and easy-to-use calibration algorithms have been developed and tested to determine the following parameters: the magnetic field distortion when an IMU containing magnetometers is mounted close to a ferro-magnetic object, the relative position and orientation of a rigidly connected camera and IMU, as well as the clock parameters and receiver positions of an indoor UWB positioning system.

Ort, förlag, år, upplaga, sidor
Linköping: Linköping University Electronic Press , 2011. , s. 143
Serie
Linköping Studies in Science and Technology. Dissertations, ISSN 0345-7524 ; 1368
Nyckelord [en]
Sensor fusion, calibration, inertial sensors, vision, UWB, GPS
Nationell ämneskategori
Reglerteknik
Identifikatorer
URN: urn:nbn:se:liu:diva-66184ISBN: 978-91-7393-197-7 (tryckt)OAI: oai:DiVA.org:liu-66184DiVA, id: diva2:417835
Disputation
2011-06-17, Visionen, Hus B, Campus Valla, Linköpings universitet, Linköping, 10:15 (Engelska)
Opponent
Handledare
Projekt
MATRIS (Markerless real-time Tracking for Augmented Reality Image), a sixth framework programme funded by the European UnionCADICS (Control, Autonomy, and Decision-making in Complex Systems), a Linneaus Center funded by the Swedish Research Council (VR)Strategic Research Center MOVIII, funded by the Swedish Foundation for Strategic Research (SSF)Tillgänglig från: 2011-05-27 Skapad: 2011-03-07 Senast uppdaterad: 2013-12-10Bibliografiskt granskad

Open Access i DiVA

Sensor Fusion and Calibration using Inertial Sensors, Vision, Ultra-Wideband and GPS(2324 kB)5837 nedladdningar
Filinformation
Filnamn FULLTEXT03.pdfFilstorlek 2324 kBChecksumma SHA-512
8af26fdb74f3c48e8f95f05838e0d4fac547ac2ab4b3c772fede6f3b0010f6aa57c654e939a61291bc6c44bf1241022eed144bf984078e16064b21b85f108a90
Typ fulltextMimetyp application/pdf
omslag(111 kB)146 nedladdningar
Filinformation
Filnamn COVER01.pdfFilstorlek 111 kBChecksumma SHA-512
933068a9d67284552d9f87d33fb990c34ffa9275c5a7877559e4abc678bdf57429121d81e14e9222cb0b5db558a5baa2d4bd8f4a4d2c9131f540fbf90cb41d61
Typ coverMimetyp application/pdf

Personposter BETA

Hol, Jeroen D.

Sök vidare i DiVA

Av författaren/redaktören
Hol, Jeroen D.
Av organisationen
ReglerteknikTekniska högskolan
Reglerteknik

Sök vidare utanför DiVA

GoogleGoogle Scholar
Totalt: 5837 nedladdningar
Antalet nedladdningar är summan av nedladdningar för alla fulltexter. Det kan inkludera t.ex tidigare versioner som nu inte längre är tillgängliga.

isbn
urn-nbn

Altmetricpoäng

isbn
urn-nbn
Totalt: 6429 träffar
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf