SIRU development. Volume 1: System development

NASA Technical Reports Server (NTRS)

Gilmore, J. P.; Cooper, R. J.

1973-01-01

A complete description of the development and initial evaluation of the Strapdown Inertial Reference Unit (SIRU) system is reported. System development documents the system mechanization with the analytic formulation for fault detection and isolation processing structure; the hardware redundancy design and the individual modularity features; the computational structure and facilities; and the initial subsystem evaluation results.

In-flight angular alignment of inertial navigation systems by means of radio aids

NASA Technical Reports Server (NTRS)

Tanner, W.

1972-01-01

The principles involved in the angular alignment of the inertial reference by nondirectional data from radio aids are developed and compared with conventional methods of alignment such as gyro-compassing and pendulous vertical determination. The specific problem is considered of the space shuttle reentry and a proposed technique for the alignment of the inertial reference system some time before landing. A description is given of the digital simulation of a transponder interrogation system and of its interaction with the inertial navigation system. Data from reentry simulations are used to demonstrate the effectiveness of in-flight inertial system alignment. Concluding remarks refer to other potential applications such as space shuttle orbit insertion and air navigation of conventional aircraft.

Frames of Reference in the Classroom

ERIC Educational Resources Information Center

Grossman, Joshua

2012-01-01

The classic film "Frames of Reference" effectively illustrates concepts involved with inertial and non-inertial reference frames. In it, Donald G. Ivey and Patterson Hume use the cameras perspective to allow the viewer to see motion in reference frames translating with a constant velocity, translating while accelerating, and rotating--all with…

Voyager Saturn encounter attitude and articulation control experience

NASA Technical Reports Server (NTRS)

Carlisle, G.; Hill, M.

1981-01-01

The Voyager attitude and articulation control system is designed for a three-axis stabilized spacecraft; it uses a biasable sun sensor and a Canopus Star Tracker (CST) for celestial control, as well as a dry inertial reference unit, comprised of three dual-axis dry gryos, for inertial control. A series of complex maneuvers was required during the first of two Voyager spacecraft encounters with Saturn (November 13, 1980); these maneuvers involved rotating the spacecraft simultaneously about two or three axes while maintaining accurate pointing of the scan platform. Titan and Saturn earth occulation experiments and a ring scattering experiment are described. Target motion compensation and the effects of celestial sensor interference are also considered. Failure of the CST, which required an extensive reevaluation of the star reference and attitude control mode strategy, is discussed. Results analyzed thus far show that the system performed with high accuracy, gathering data deeper into Saturn's atmosphere than on any previous planetary encounter.

Inertial measurement unit using rotatable MEMS sensors

DOEpatents

Kohler, Stewart M [Albuquerque, NM; Allen, James J [Albuquerque, NM

2007-05-01

A MEM inertial sensor (e.g. accelerometer, gyroscope) having integral rotational means for providing static and dynamic bias compensation is disclosed. A bias compensated MEM inertial sensor is described comprising a MEM inertial sense element disposed on a rotatable MEM stage. A MEM actuator drives the rotation of the stage between at least two predetermined rotational positions. Measuring and comparing the output of the MEM inertial sensor in the at least two rotational positions allows for both static and dynamic bias compensation in inertial calculations based on the sensor's output. An inertial measurement unit (IMU) comprising a plurality of independently rotatable MEM inertial sensors and methods for making bias compensated inertial measurements are disclosed.

Inertial measurement unit using rotatable MEMS sensors

DOEpatents

Kohler, Stewart M.; Allen, James J.

2006-06-27

A MEM inertial sensor (e.g. accelerometer, gyroscope) having integral rotational means for providing static and dynamic bias compensation is disclosed. A bias compensated MEM inertial sensor is described comprising a MEM inertial sense element disposed on a rotatable MEM stage. A MEM actuator for drives the rotation of the stage between at least two predetermined rotational positions. Measuring and comparing the output of the MEM inertial sensor in the at least two rotational positions allows, for both static and dynamic bias compensation in inertial calculations based on the sensor's output. An inertial measurement unit (IMU) comprising a plurality of independently rotatable MEM inertial sensors and methods for making bias compensated inertial measurements are disclosed.

Agate Beach BOBr Processed Breaking Wave Data

DOE Data Explorer

Adam C Brown

2013-10-31

This data was recorded of the coast of Newport, OR at Agate Beach in the surf zone. The data was recorded by a 9dof inertial measurement unit and consists of a timestamp, quaternion orientation, acceleration vector, rotation vector, and magnetic vector. The acceleration, rotation, and magnetic vectors have all been corrected back to a North East Down reference frame.

Mechanical Energy Change in Inertial Reference Frames

ERIC Educational Resources Information Center

Ghanbari, Saeed

2016-01-01

The mechanical energy change of a system in an inertial frame of reference equals work done by the total nonconservative force in the same frame. This relation is covariant under the Galilean transformations from inertial frame S to S', where S' moves with constant velocity relative to S. In the presence of nonconservative forces, such as normal…

Automated Driftmeter Fused with Inertial Navigation

DTIC Science & Technology

2014-03-27

6 IMU Inertial Measurement Unit . . . . . . . . . . . . . . . . . . . . . . . 7 SLAM Simultaneous...timing lines to remain horizontal at all times, regardless of turbulence and within 20 degrees of roll , pitch, and yaw of the aircraft. It had two...introduced in 1960 [2]. The Kalman filter algorithm has been used to merge inertial navigational data from Inertial Measurement Units ( IMU ) with

Autonomous orbital navigation using Kepler's equation

NASA Technical Reports Server (NTRS)

Boltz, F. W.

1974-01-01

A simple method of determining the six elements of elliptic satellite orbits has been developed for use aboard manned and unmanned spacecraft orbiting the earth, moon, or any planet. The system requires the use of a horizon sensor or other device for determining the local vertical, a precision clock or timing device, and Apollo-type navigation equipment including an inertial measurement unit (IMU), a digital computer, and a coupling data unit. The three elements defining the in-plane motion are obtained from simultaneous measurements of central angle traversed around the planet and elapsed flight time using a linearization of Kepler's equation about a reference orbit. It is shown how Kalman filter theory may also be used to determine the in-plane orbital elements. The three elements defining the orbit orientation are obtained from position angles in celestial coordinates derived from the IMU with the spacecraft vertically oriented after alignment of the IMU to a known inertial coordinate frame.

The Inertial Property of Approximately Inertial Frames of Reference

ERIC Educational Resources Information Center

Chubykalo, Andrew E.; Espinoza, Augusto; Kosyakov, B. P.

2011-01-01

Is it possible to compare approximately inertial frames in the inertial property? If this is the case, the inertial property becomes a measurable quantity. We give a positive answer to this question, and discuss the general principle of design of devices for making the required measurements. This paper is intended for advanced undergraduate and…

Mariner Mars 1971 attitude control subsystem

NASA Technical Reports Server (NTRS)

Edmunds, R. S.

1974-01-01

The Mariner Mars 1971 attitude control subsystem (ACS) is discussed. It is comprised of a sun sensor set, a Canopus tracker, an inertial reference unit, two cold gas reaction control assemblies, two rocket engine gimbal actuators, and an attitude control electronics unit. The subsystem has the following eight operating modes: (1) launch, (2) sun acquisition, (3) roll search, (4) celestial cruise, (5) all-axes inertial, (6) roll inertial, (7) commanded turn, and (8) thrust vector control. In the celestial cruise mode, the position control is held to plus or minus 0.25 deg. Commanded turn rates are plus or minus 0.18 deg/s. The attitude control logic in conjunction with command inputs from other spacecraft subsystems establishes the ACS operating mode. The logic utilizes Sun and Canopus acquisition signals generated within the ACS to perform automatic mode switching so that dependence of ground control is minimized when operating in the sun acquisition, roll search, and celestial cruise modes. The total ACS weight is 65.7 lb, and includes 5.4 lb of nitrogen gas. Total power requirements vary from 9 W for the celestial cruise mode to 54 W for the commanded turn mode.

POF-IMU sensor system: A fusion between inertial measurement units and POF sensors for low-cost and highly reliable systems

NASA Astrophysics Data System (ADS)

Leal-Junior, Arnaldo G.; Vargas-Valencia, Laura; dos Santos, Wilian M.; Schneider, Felipe B. A.; Siqueira, Adriano A. G.; Pontes, Maria José; Frizera, Anselmo

2018-07-01

This paper presents a low cost and highly reliable system for angle measurement based on a sensor fusion between inertial and fiber optic sensors. The system consists of the sensor fusion through Kalman filter of two inertial measurement units (IMUs) and an intensity variation-based polymer optical fiber (POF) curvature sensor. In addition, the IMU was applied as a reference for a compensation technique of POF curvature sensor hysteresis. The proposed system was applied on the knee angle measurement of a lower limb exoskeleton in flexion/extension cycles and in gait analysis. Results show the accuracy of the system, where the Root Mean Square Error (RMSE) between the POF-IMU sensor system and the encoder was below 4° in the worst case and about 1° in the best case. Then, the POF-IMU sensor system was evaluated as a wearable sensor for knee joint angle assessment without the exoskeleton, where its suitability for this purpose was demonstrated. The results obtained in this paper pave the way for future applications of sensor fusion between electronic and fiber optic sensors in movement analysis.

Unitary cocycle representations of the Galilean line group: Quantum mechanical principle of equivalence

DOE Office of Scientific and Technical Information (OSTI.GOV)

MacGregor, B.R.; McCoy, A.E.; Wickramasekara, S., E-mail: wickrama@grinnell.edu

2012-09-15

We present a formalism of Galilean quantum mechanics in non-inertial reference frames and discuss its implications for the equivalence principle. This extension of quantum mechanics rests on the Galilean line group, the semidirect product of the real line and the group of analytic functions from the real line to the Euclidean group in three dimensions. This group provides transformations between all inertial and non-inertial reference frames and contains the Galilei group as a subgroup. We construct a certain class of unitary representations of the Galilean line group and show that these representations determine the structure of quantum mechanics in non-inertialmore » reference frames. Our representations of the Galilean line group contain the usual unitary projective representations of the Galilei group, but have a more intricate cocycle structure. The transformation formula for the Hamiltonian under the Galilean line group shows that in a non-inertial reference frame it acquires a fictitious potential energy term that is proportional to the inertial mass, suggesting the equivalence of inertial mass and gravitational mass in quantum mechanics. - Highlights: Black-Right-Pointing-Pointer A formulation of Galilean quantum mechanics in non-inertial reference frames is given. Black-Right-Pointing-Pointer The key concept is the Galilean line group, an infinite dimensional group. Black-Right-Pointing-Pointer Unitary, cocycle representations of the Galilean line group are constructed. Black-Right-Pointing-Pointer A non-central extension of the group underlies these representations. Black-Right-Pointing-Pointer Quantum equivalence principle and gravity emerge from these representations.« less

An Innovative Procedure for Calibration of Strapdown Electro-Optical Sensors Onboard Unmanned Air Vehicles

PubMed Central

Fasano, Giancarmine; Accardo, Domenico; Moccia, Antonio; Rispoli, Attilio

2010-01-01

This paper presents an innovative method for estimating the attitude of airborne electro-optical cameras with respect to the onboard autonomous navigation unit. The procedure is based on the use of attitude measurements under static conditions taken by an inertial unit and carrier-phase differential Global Positioning System to obtain accurate camera position estimates in the aircraft body reference frame, while image analysis allows line-of-sight unit vectors in the camera based reference frame to be computed. The method has been applied to the alignment of the visible and infrared cameras installed onboard the experimental aircraft of the Italian Aerospace Research Center and adopted for in-flight obstacle detection and collision avoidance. Results show an angular uncertainty on the order of 0.1° (rms). PMID:22315559

Inertial Measures of Motion for Clinical Biomechanics: Comparative Assessment of Accuracy under Controlled Conditions – Changes in Accuracy over Time

PubMed Central

Lebel, Karina; Boissy, Patrick; Hamel, Mathieu; Duval, Christian

2015-01-01

Background Interest in 3D inertial motion tracking devices (AHRS) has been growing rapidly among the biomechanical community. Although the convenience of such tracking devices seems to open a whole new world of possibilities for evaluation in clinical biomechanics, its limitations haven’t been extensively documented. The objectives of this study are: 1) to assess the change in absolute and relative accuracy of multiple units of 3 commercially available AHRS over time; and 2) to identify different sources of errors affecting AHRS accuracy and to document how they may affect the measurements over time. Methods This study used an instrumented Gimbal table on which AHRS modules were carefully attached and put through a series of velocity-controlled sustained motions including 2 minutes motion trials (2MT) and 12 minutes multiple dynamic phases motion trials (12MDP). Absolute accuracy was assessed by comparison of the AHRS orientation measurements to those of an optical gold standard. Relative accuracy was evaluated using the variation in relative orientation between modules during the trials. Findings Both absolute and relative accuracy decreased over time during 2MT. 12MDP trials showed a significant decrease in accuracy over multiple phases, but accuracy could be enhanced significantly by resetting the reference point and/or compensating for initial Inertial frame estimation reference for each phase. Interpretation The variation in AHRS accuracy observed between the different systems and with time can be attributed in part to the dynamic estimation error, but also and foremost, to the ability of AHRS units to locate the same Inertial frame. Conclusions Mean accuracies obtained under the Gimbal table sustained conditions of motion suggest that AHRS are promising tools for clinical mobility assessment under constrained conditions of use. However, improvement in magnetic compensation and alignment between AHRS modules are desirable in order for AHRS to reach their full potential in capturing clinical outcomes. PMID:25811838

A Robust Nonlinear Observer for Real-Time Attitude Estimation Using Low-Cost MEMS Inertial Sensors

PubMed Central

Guerrero-Castellanos, José Fermi; Madrigal-Sastre, Heberto; Durand, Sylvain; Torres, Lizeth; Muñoz-Hernández, German Ardul

2013-01-01

This paper deals with the attitude estimation of a rigid body equipped with angular velocity sensors and reference vector sensors. A quaternion-based nonlinear observer is proposed in order to fuse all information sources and to obtain an accurate estimation of the attitude. It is shown that the observer error dynamics can be separated into two passive subsystems connected in “feedback”. Then, this property is used to show that the error dynamics is input-to-state stable when the measurement disturbance is seen as an input and the error as the state. These results allow one to affirm that the observer is “robustly stable”. The proposed observer is evaluated in real-time with the design and implementation of an Attitude and Heading Reference System (AHRS) based on low-cost MEMS (Micro-Electro-Mechanical Systems) Inertial Measure Unit (IMU) and magnetic sensors and a 16-bit microcontroller. The resulting estimates are compared with a high precision motion system to demonstrate its performance. PMID:24201316

General test plan redundant sensor strapdown IMU evaluation program

NASA Technical Reports Server (NTRS)

Hartwell, T.; Irwin, H. A.; Miyatake, Y.; Wedekind, D. E.

1971-01-01

The general test plan for a redundant sensor strapdown inertial measuring unit evaluation program is presented. The inertial unit contains six gyros and three orthogonal accelerometers. The software incorporates failure detection and correction logic and a land vehicle navigation program. The principal objective of the test is a demonstration of the practicability, reliability, and performance of the inertial measuring unit with failure detection and correction in operational environments.

A self-calibration method in single-axis rotational inertial navigation system with rotating mechanism

NASA Astrophysics Data System (ADS)

Chen, Yuanpei; Wang, Lingcao; Li, Kui

2017-10-01

Rotary inertial navigation modulation mechanism can greatly improve the inertial navigation system (INS) accuracy through the rotation. Based on the single-axis rotational inertial navigation system (RINS), a self-calibration method is put forward. The whole system is applied with the rotation modulation technique so that whole inertial measurement unit (IMU) of system can rotate around the motor shaft without any external input. In the process of modulation, some important errors can be decoupled. Coupled with the initial position information and attitude information of the system as the reference, the velocity errors and attitude errors in the rotation are used as measurement to perform Kalman filtering to estimate part of important errors of the system after which the errors can be compensated into the system. The simulation results show that the method can complete the self-calibration of the single-axis RINS in 15 minutes and estimate gyro drifts of three-axis, the installation error angle of the IMU and the scale factor error of the gyro on z-axis. The calibration accuracy of optic gyro drifts could be about 0.003°/h (1σ) as well as the scale factor error could be about 1 parts per million (1σ). The errors estimate reaches the system requirements which can effectively improve the longtime navigation accuracy of the vehicle or the boat.

Inflight alignment of payload inertial reference from Shuttle navigation system

NASA Astrophysics Data System (ADS)

Treder, A. J.; Norris, R. E.; Ruprecht, R.

Two methods for payload attitude initialization from the STS Orbiter have been proposed: body axis maneuvers (BAM) and star line maneuvers (SLM). The first achieves alignment directly through the Shuttle star tracker, while the second, indirectly through the stellar-updated Shuttle inertial platform. The Inertial Upper Stage (IUS) with its strapdown navigation system is used to demonstrate in-flight alignment techniques. Significant accuracy can be obtained with minimal impact on Orbiter operations, with payload inertial reference potentially approaching the accuracy of the Shuttle star tracker. STS-6 flight performance parameters, including alignment stability, are discussed and compared with operational complexity. Results indicate overall alignment stability of .06 deg, 3 sigma per axis.

Dual-use micromechanical inertial sensors

NASA Astrophysics Data System (ADS)

Elwell, John M., Jr.

1995-03-01

A new industry, which will provide low-cost silicon-based inertial sensors to the commercial and military markets. is being created. Inertial measurement units are used extensively in military systems, and new versions are expected to find their way into commercial products, such as automobiles, as production costs fall as technology advances. An automotive inertial measurement unit can be expected to perform a complete range of control, diagnostic, and navigation functions. These functions are expected to provide significant active safety, performance, comfort, convenience, and fuel economy advantages to the automotive consumer. An inertial measurement unit applicable to the automobile industry would meet many of the performance requirements for the military in important areas, such as antenna and image stabilization, autopilot control, and the guidance of smart weapons. Such a new industrial base will significantly reduce the acquisition cost of many future tactical weapons systems. An alliance, consisting of the Charles Stark Draper Laboratory and Rockwell International, has been created to develop inertial products for this new industry.

Application of Roll-Isolated Inertial Measurement Units to the Instrumentation of Spinning Vehicles

DOE Office of Scientific and Technical Information (OSTI.GOV)

BEADER,MARK E.

Roll-isolated inertial measurement units are developed at Sandia for use in the instrumentation, guidance, and control of rapidly spinning vehicles. Roll-isolation is accomplished by supporting the inertial instrument cluster (gyros and accelerometers) on a single gimbal, the axis of which is parallel to the vehicle's spin axis. A rotary motor on the gimbal is driven by a servo loop to null the roll gyro output, thus inertially stabilizing the gimbal and instrument cluster while the vehicle spins around it. Roll-isolation prevents saturation of the roll gyro by the high vehicle spin rate, and vastly reduces measurement errors arising from gyromore » scale factor and alignment uncertainties. Nine versions of Sandia-developed roll-isolated inertial measurement units have been flown on a total of 27 flight tests since 1972.« less

Wide Area Assessment (WAA) for Marine Munitions and Explosives of Concern

DTIC Science & Technology

2011-08-01

from an integrated inertial system ( Applanix POS MV 320). This high performance system measured vessel pitch, roll, and heave, which was used by...measurement unit (IMU) of the Applanix POS MV 320 (Table 5-1). These offsets are used by the HYPACK®/HYSWEEP® acquisition software to combine and...calibration test (the “patch test” [refer to Section 5.5.3]), and whenever necessary as automatically determined by the Applanix software (POSView), an

SIRU utilization. Volume 1: Theory, development and test evaluation

NASA Technical Reports Server (NTRS)

Musoff, H.

1974-01-01

The theory, development, and test evaluations of the Strapdown Inertial Reference Unit (SIRU) are discussed. The statistical failure detection and isolation, single position calibration, and self alignment techniques are emphasized. Circuit diagrams of the system components are provided. Mathematical models are developed to show the performance characteristics of the subsystems. Specific areas of the utilization program are identified as: (1) error source propagation characteristics and (2) local level navigation performance demonstrations.

Cloud Absorption Radiometer Autonomous Navigation System - CANS

NASA Technical Reports Server (NTRS)

Kahle, Duncan; Gatebe, Charles; McCune, Bill; Hellwig, Dustan

2013-01-01

CAR (cloud absorption radiometer) acquires spatial reference data from host aircraft navigation systems. This poses various problems during CAR data reduction, including navigation data format, accuracy of position data, accuracy of airframe inertial data, and navigation data rate. Incorporating its own navigation system, which included GPS (Global Positioning System), roll axis inertia and rates, and three axis acceleration, CANS expedites data reduction and increases the accuracy of the CAR end data product. CANS provides a self-contained navigation system for the CAR, using inertial reference and GPS positional information. The intent of the software application was to correct the sensor with respect to aircraft roll in real time based upon inputs from a precision navigation sensor. In addition, the navigation information (including GPS position), attitude data, and sensor position details are all streamed to a remote system for recording and later analysis. CANS comprises a commercially available inertial navigation system with integral GPS capability (Attitude Heading Reference System AHRS) integrated into the CAR support structure and data system. The unit is attached to the bottom of the tripod support structure. The related GPS antenna is located on the P-3 radome immediately above the CAR. The AHRS unit provides a RS-232 data stream containing global position and inertial attitude and velocity data to the CAR, which is recorded concurrently with the CAR data. This independence from aircraft navigation input provides for position and inertial state data that accounts for very small changes in aircraft attitude and position, sensed at the CAR location as opposed to aircraft state sensors typically installed close to the aircraft center of gravity. More accurate positional data enables quicker CAR data reduction with better resolution. The CANS software operates in two modes: initialization/calibration and operational. In the initialization/calibration mode, the software aligns the precision navigation sensors and initializes the communications interfaces with the sensor and the remote computing system. It also monitors the navigation data state for quality and ensures that the system maintains the required fidelity for attitude and positional information. In the operational mode, the software runs at 12.5 Hz and gathers the required navigation/attitude data, computes the required sensor correction values, and then commands the sensor to the required roll correction. In this manner, the sensor will stay very near to vertical at all times, greatly improving the resulting collected data and imagery. CANS greatly improves quality of resulting imagery and data collected. In addition, the software component of the system outputs a concisely formatted, high-speed data stream that can be used for further science data processing. This precision, time-stamped data also can benefit other instruments on the same aircraft platform by providing extra information from the mission flight.

Closing the Gap Between Research and Field Applications for Multi-UAV Cooperative Missions

DTIC Science & Technology

2013-09-01

IMU Inertial Measurement Units INCOSE International Council on Systems Engineering ISR Intelligence Surveillance and Reconnaissance ISTAR...light-weight and low-cost inertial measurement units ( IMUs ) are widely adopted for navigation of small- scale UAVs. Low-costs IMUs are characterized...by high measurement noises and large measurement biases. Hence pure initial navigation using low-cost IMUs drifts rapidly. In practice, inertial

The error of L5/S1 joint moment calculation in a body-centered non-inertial reference frame when the fictitious force is ignored.

PubMed

Xu, Xu; Faber, Gert S; Kingma, Idsart; Chang, Chien-Chi; Hsiang, Simon M

2013-07-26

In ergonomics studies, linked segment models are commonly used for estimating dynamic L5/S1 joint moments during lifting tasks. The kinematics data input to these models are with respect to an arbitrary stationary reference frame. However, a body-centered reference frame, which is defined using the position and the orientation of human body segments, is sometimes used to conveniently identify the location of the load relative to the body. When a body-centered reference frame is moving with the body, it is a non-inertial reference frame and fictitious force exists. Directly applying a linked segment model to the kinematics data with respect to a body-centered non-inertial reference frame will ignore the effect of this fictitious force and introduce errors during L5/S1 moment estimation. In the current study, various lifting tasks were performed in the laboratory environment. The L5/S1 joint moments during the lifting tasks were calculated by a linked segment model with respect to a stationary reference frame and to a body-centered non-inertial reference frame. The results indicate that applying a linked segment model with respect to a body-centered non-inertial reference frame will result in overestimating the peak L5/S1 joint moments of the coronal plane, sagittal plane, and transverse plane during lifting tasks by 78%, 2%, and 59% on average, respectively. The instant when the peak moment occurred was delayed by 0.13, 0.03, and 0.09s on average, correspondingly for the three planes. The root-mean-square errors of the L5/S1 joint moment for the three planes are 21Nm, 19Nm, and 9Nm, correspondingly. Copyright © 2013 Elsevier Ltd. All rights reserved.

Physics of Non-Inertial Reference Frames

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kamalov, Timur F.

2010-12-22

Physics of non-inertial reference frames is a generalizing of Newton's laws to any reference frames. It is the system of general axioms for classical and quantum mechanics. The first, Kinematics Principle reads: the kinematic state of a body free of forces conserves and equal in absolute value to an invariant of the observer's reference frame. The second, Dynamics Principle extended Newton's second law to non-inertial reference frames and also contains additional variables there are higher derivatives of coordinates. Dynamics Principle reads: a force induces a change in the kinematic state of the body and is proportional to the rate ofmore » its change. It is mean that if the kinematic invariant of the reference frame is n-th derivative with respect the time, then the dynamics of a body being affected by the force F is described by the 2n-th differential equation. The third, Statics Principle reads: the sum of all forces acting a body at rest is equal to zero.« less

Measurement of Infrasound from the Marine Environment

DTIC Science & Technology

2015-09-01

ocean heave, which are due to the change in the background atmospheric pressure as the sensor moves up and down. An external inertial measurement unit ... inertial measurement unit (IMU) was used to estimate the heave, and was highly correlated with the pressure interference signal. Mission area... MEASUREMENT UNIT ..................................................... 13 ADAPTIVE NOISE CANCELATION

Measurement of Intrasound from the Marine Environment

DTIC Science & Technology

2015-09-01

external inertial measurement unit (IMU) was used to estimate the heave, and was highly correlated with the pressure interference signal...moves up and down. An external inertial measurement unit (IMU) was used to estimate the heave, and was highly correlated with the pressure...10 EXTERNAL INTEGRATED MEASUREMENT UNIT ..................................................... 13 ADAPTIVE NOISE CANCELATION

NASA's first in-space optical gyroscope: A technology experiment on the X ray Timing Explorer spacecraft

NASA Technical Reports Server (NTRS)

Unger, Glenn; Kaufman, David M.; Krainak, Michael; Sanders, Glenn; Taylor, Bill; Schulze, Norman R.

1993-01-01

A technology experiment on the X-ray Timing Explorer spacecraft to determine the feasibility of Interferometric Fiber Optic Gyroscopes for space flight navigation is described. The experiment consists of placing a medium grade fiber optic gyroscope in parallel with the spacecraft's inertial reference unit. The performance of the fiber optic gyroscope will be monitored and compared to the primary mechanical gyroscope's performance throughout the two-year mission life.

Quantum mechanics in non-inertial reference frames: Time-dependent rotations and loop prolongations

DOE Office of Scientific and Technical Information (OSTI.GOV)

Klink, W.H., E-mail: william-klink@uiowa.edu; Wickramasekara, S., E-mail: wickrama@grinnell.edu; Department of Physics, Grinnell College, Grinnell, IA 50112

2013-09-15

This is the fourth in a series of papers on developing a formulation of quantum mechanics in non-inertial reference frames. This formulation is grounded in a class of unitary cocycle representations of what we have called the Galilean line group, the generalization of the Galilei group to include transformations amongst non-inertial reference frames. These representations show that in quantum mechanics, just as the case in classical mechanics, the transformations to accelerating reference frames give rise to fictitious forces. In previous work, we have shown that there exist representations of the Galilean line group that uphold the non-relativistic equivalence principle asmore » well as representations that violate the equivalence principle. In these previous studies, the focus was on linear accelerations. In this paper, we undertake an extension of the formulation to include rotational accelerations. We show that the incorporation of rotational accelerations requires a class of loop prolongations of the Galilean line group and their unitary cocycle representations. We recover the centrifugal and Coriolis force effects from these loop representations. Loops are more general than groups in that their multiplication law need not be associative. Hence, our broad theoretical claim is that a Galilean quantum theory that holds in arbitrary non-inertial reference frames requires going beyond groups and group representations, the well-established framework for implementing symmetry transformations in quantum mechanics. -- Highlights: •A formulation of Galilean quantum mechanics in non-inertial reference frames is presented. •The Galilei group is generalized to infinite dimensional Galilean line group. •Loop prolongations of Galilean line group contain central extensions of Galilei group. •Unitary representations of the loops are constructed. •These representations lead to terms in the Hamiltonian corresponding to fictitious forces, including centrifugal and Coriolis forces.« less

A three-axis flight simulator. [for testing and evaluating inertial measuring units, and flight platforms

NASA Technical Reports Server (NTRS)

Mason, M. G.

1975-01-01

A simulator is described, which was designed for testing and evaluating inertial measuring units, and flight platforms. Mechanical and electrical specifications for the outer, middle, and inner axis are presented. Test results are included.

Inertial navigation without accelerometers

NASA Astrophysics Data System (ADS)

Boehm, M.

The Kennedy-Thorndike (1932) experiment points to the feasibility of fiber-optic inertial velocimeters, to which state-of-the-art technology could furnish substantial sensitivity and accuracy improvements. Velocimeters of this type would obviate the use of both gyros and accelerometers, and allow inertial navigation to be conducted together with vehicle attitude control, through the derivation of rotation rates from the ratios of the three possible velocimeter pairs. An inertial navigator and reference system based on this approach would probably have both fewer components and simpler algorithms, due to the obviation of the first level of integration in classic inertial navigators.

Error reduction by combining strapdown inertial measurement units in a baseball stitch

NASA Astrophysics Data System (ADS)

Tracy, Leah

A poor musical performance is rarely due to an inferior instrument. When a device is under performing, the temptation is to find a better device or a new technology to achieve performance objectives; however, another solution may be improving how existing technology is used through a better understanding of device characteristics, i.e., learning to play the instrument better. This thesis explores improving position and attitude estimates of inertial navigation systems (INS) through an understanding of inertial sensor errors, manipulating inertial measurement units (IMUs) to reduce that error and multisensor fusion of multiple IMUs to reduce error in a GPS denied environment.

A Newton-Euler Description for Sediment Movement.

NASA Astrophysics Data System (ADS)

Maniatis, G.; Hoey, T.; Drysdale, T.; Hodge, R. A.; Valyrakis, M.

2015-12-01

We present progress from the development of a purpose specific sensing system for sediment transport (Maniatis et al. 2013). This system utilises the capabilities of contemporary inertial micro-sensors (strap-down accelerometers and gyroscopes) to record fluvial transport from the moving body-frame of artificial pebbles modelled precisely to represent the motion of real, coarse sediment grains (D90=100 mm class). This type of measurements can be useful in the context of sediment transport only if the existing mathematical understanding of the process is updated. We test a new mathematical model which defines specifically how the data recorded in the body frame of the sensor (Lagrangian frame of reference) can be generalised to the reference frame of the flow (channel, Eulerian frame of reference). Given the association of the two most widely used models for sediment transport with those frames of reference (Shields' to Eulerian frame and HA. Einstein's to Lagrangian frame), this description builds the basis for the definition of explicit incipient motion criteria (Maniatis et al. 2015) and for the upscaling from point-grain scale measurements to averaged, cross-sectional, stream related metrics. Flume experiments where conducted in the Hydraulics laboratory of the University of Glasgow where a spherical sensor of 800 mm diameter and capable of recoding inertial dynamics at 80Hz frequency was tested under fluvial transport conditions. We managed to measure the dynamical response of the unit during pre-entrainment/entrainment transitions, on scaled and non-scaled to the sensor's diameter bed and for a range of hydrodynamic conditions (slope up to 0.02 and flow increase rate up to 0.05m3.s-1. Preliminary results from field deployment on a mixed bedrock-alluvial channel are also presented. Maniatis et. al 2013 J. Sens. Actuator Netw. 2013, 2(4), 761-779; Maniatis et. al 2015: "CALCULATION OF EXPLICIT PROBABILITY OF ENTRAINMENT BASED ON INERTIAL ACCELERATION MEASUREMENTS" J. Hydraulic Engineering, Under review.

INTEGRATED INS/GPS NAVIGATION FROM A POPULAR PERSPECTIVE

DOT National Transportation Integrated Search

2002-02-13

Inertial navigation, blended with other navigation aids Global Positioning System (GPS) in particular, has gained significance due to enhanced navigation and inertial reference performance and dissimilarity for fault tolerance and anti-jamming. Relat...

Performance advantages of dynamically tuned gyroscopes in high accuracy spacecraft pointing and stabilization applications

NASA Technical Reports Server (NTRS)

Irvine, R.; Van Alstine, R.

1979-01-01

The paper compares and describes the advantages of dry tuned gyros over floated gyros for space applications. Attention is given to describing the Teledyne SDG-5 gyro and the second-generation NASA Standard Dry Rotor Inertial Reference Unit (DRIRU II). Certain tests which were conducted to evaluate the SDG-5 and DRIRU II for specific mission requirements are outlined, and their results are compared with published test results on other gyro types. Performance advantages are highlighted.

The influence of inertial sensor sampling frequency on the accuracy of measurement parameters in rearfoot running.

PubMed

Mitschke, Christian; Zaumseil, Falk; Milani, Thomas L

2017-11-01

Increasingly, inertial sensors are being used for running analyses. The aim of this study was to systematically investigate the influence of inertial sensor sampling frequencies (SF) on the accuracy of kinematic, spatio-temporal, and kinetic parameters. We hypothesized that running analyses at lower SF result in less signal information and therefore the inability to sufficiently interpret measurement data. Twenty-one subjects participated in this study. Rearfoot strikers ran on an indoor running track at a velocity of 3.5 ± 0.1 ms -1 . A uniaxial accelerometer was attached at the tibia and an inertial measurement unit was mounted at the heel of the right shoe. All sensors were synchronized at the start and data was measured with 1000 Hz (reference SF). Datasets were reduced to 500, 333, 250, 200, and 100 Hz in post-processing. The results of this study showed that a minimum SF of 500 Hz should be used to accurately measure kinetic parameters (e.g. peak heel acceleration). In contrast, stride length showed accurate results even at 333 Hz. 200 Hz were required to calculate parameters accurately for peak tibial acceleration, stride duration, and all kinematic measurements. The information from this study is necessary to correctly interpret measurement data of existing investigations and to plan future studies.

The Minkowski metric in non-inertial observer radar coordinates

NASA Astrophysics Data System (ADS)

Minguzzi, E.

2005-12-01

We give a closed expression for the Minkowski (1+1)-dimensional metric in the radar coordinates of an arbitrary non-inertial observer O in terms of O's proper acceleration. Knowledge of the metric allows the non-inertial observer to perform experiments in spacetime without making reference to inertial frames. To clarify the relation between inertial and non-inertial observers the coordinate transformation between radar and inertial coordinates also is given. We show that every conformally flat coordinate system can be regarded as the radar coordinate system of a suitable observer for a suitable parametrization of the observer worldline. Therefore, the coordinate transformation between arbitrarily moving observers is a conformal transformation and conformally invariant (1+1)-dimensional theories lead to the same physics for all observers, independently of their relative motion.

Re-examination of globally flat space-time.

PubMed

Feldman, Michael R

2013-01-01

In the following, we offer a novel approach to modeling the observed effects currently attributed to the theoretical concepts of "dark energy," "dark matter," and "dark flow." Instead of assuming the existence of these theoretical concepts, we take an alternative route and choose to redefine what we consider to be inertial motion as well as what constitutes an inertial frame of reference in flat space-time. We adopt none of the features of our current cosmological models except for the requirement that special and general relativity be local approximations within our revised definition of inertial systems. Implicit in our ideas is the assumption that at "large enough" scales one can treat objects within these inertial systems as point-particles having an insignificant effect on the curvature of space-time. We then proceed under the assumption that time and space are fundamentally intertwined such that time- and spatial-translational invariance are not inherent symmetries of flat space-time (i.e., observable clock rates depend upon both relative velocity and spatial position within these inertial systems) and take the geodesics of this theory in the radial Rindler chart as the proper characterization of inertial motion. With this commitment, we are able to model solely with inertial motion the observed effects expected to be the result of "dark energy," "dark matter," and "dark flow." In addition, we examine the potential observable implications of our theory in a gravitational system located within a confined region of an inertial reference frame, subsequently interpreting the Pioneer anomaly as support for our redefinition of inertial motion. As well, we extend our analysis into quantum mechanics by quantizing for a real scalar field and find a possible explanation for the asymmetry between matter and antimatter within the framework of these redefined inertial systems.

Re-Examination of Globally Flat Space-Time

NASA Astrophysics Data System (ADS)

Feldman, Michael R.

2013-11-01

In the following, we offer a novel approach to modeling the observed effects currently attributed to the theoretical concepts of "dark energy," "dark matter," and "dark flow." Instead of assuming the existence of these theoretical concepts, we take an alternative route and choose to redefine what we consider to be inertial motion as well as what constitutes an inertial frame of reference in flat space-time. We adopt none of the features of our current cosmological models except for the requirement that special and general relativity be local approximations within our revised definition of inertial systems. Implicit in our ideas is the assumption that at "large enough" scales one can treat objects within these inertial systems as point-particles having an insignificant effect on the curvature of space-time. We then proceed under the assumption that time and space are fundamentally intertwined such that time- and spatial-translational invariance are not inherent symmetries of flat space-time (i.e., observable clock rates depend upon both relative velocity and spatial position within these inertial systems) and take the geodesics of this theory in the radial Rindler chart as the proper characterization of inertial motion. With this commitment, we are able to model solely with inertial motion the observed effects expected to be the result of "dark energy," "dark matter," and "dark flow." In addition, we examine the potential observable implications of our theory in a gravitational system located within a confined region of an inertial reference frame, subsequently interpreting the Pioneer anomaly as support for our redefinition of inertial motion. As well, we extend our analysis into quantum mechanics by quantizing for a real scalar field and find a possible explanation for the asymmetry between matter and antimatter within the framework of these redefined inertial systems.

Description and User Instructions for the Quaternion_to_Orbit_v3 Software

NASA Technical Reports Server (NTRS)

Strekalov, Dmitry V.; Kruizinga, Gerhard L.; Paik, Meegyeong; Yuan, Dah-Ning; Asmar, Sami W.

2012-01-01

For a given inertial frame of reference, the software combines the spacecraft orbits with the spacecraft attitude quaternions, and rotates the body-fixed reference frame of a particular spacecraft to the inertial reference frame. The conversion assumes that the two spacecraft are aligned with respect to the mutual line of sight, with a parameterized time tag. The software is implemented in Python and is completely open source. It is very versatile, and may be applied under various circumstances and for other related purposes. Based on the solid linear algebra analysis, it has an extra option for compensating the linear pitch. This software has been designed for simulation of the calibration maneuvers performed by the two spacecraft comprising the GRAIL mission to the Moon, but has potential use for other applications. In simulations of formation flights, one needs to coordinate the spacecraft orbits represented in an appropriate inertial reference frame and the spacecraft attitudes. The latter are usually given as the time series of quaternions rotating the body-fixed reference frame of a particular spacecraft to the inertial reference frame. It is often desirable to simulate the same maneuver for different segments of the orbit. It is also useful to study various maneuvers that could be performed at the same orbit segment. These two lines of study are more timeand labor-efficient if the attitude and orbit data are generated independently, so that the part of the data that has not been changed can be recycled in the course of multiple simulations.

Space Shuttle Earth Observation sensors pointing and stabilization requirements study

NASA Technical Reports Server (NTRS)

1976-01-01

The shuttle orbiter inertial measurement unit (IMU), located in the orbiter cabin, is used to supply inertial attitude reference signals; and, in conjunction with the onboard navigation system, can provide a pointing capability of the navigation base accurate to within plus or minus 0.5 deg for earth viewing missions. This pointing accuracy can degrade to approximately plus or minus 2.0 deg for payloads located in the aft bay due to structural flexure of the shuttle vehicle, payload structural and mounting misalignments, and calibration errors with respect to the navigation base. Drawbacks to obtaining pointing accuracy by using the orbiter RCS jets are discussed. Supplemental electromechanical pointing systems are developed to provide independent pointing for individual sensors, or sensor groupings. The missions considered and the sensors required for these missions and the parameters of each sensor are described. Assumptions made to derive pointing and stabilization requirements are delineated.

Filtering Methods for Error Reduction in Spacecraft Attitude Estimation Using Quaternion Star Trackers

NASA Technical Reports Server (NTRS)

Calhoun, Philip C.; Sedlak, Joseph E.; Superfin, Emil

2011-01-01

Precision attitude determination for recent and planned space missions typically includes quaternion star trackers (ST) and a three-axis inertial reference unit (IRU). Sensor selection is based on estimates of knowledge accuracy attainable from a Kalman filter (KF), which provides the optimal solution for the case of linear dynamics with measurement and process errors characterized by random Gaussian noise with white spectrum. Non-Gaussian systematic errors in quaternion STs are often quite large and have an unpredictable time-varying nature, particularly when used in non-inertial pointing applications. Two filtering methods are proposed to reduce the attitude estimation error resulting from ST systematic errors, 1) extended Kalman filter (EKF) augmented with Markov states, 2) Unscented Kalman filter (UKF) with a periodic measurement model. Realistic assessments of the attitude estimation performance gains are demonstrated with both simulation and flight telemetry data from the Lunar Reconnaissance Orbiter.

Quaternion-Based Unscented Kalman Filter for Accurate Indoor Heading Estimation Using Wearable Multi-Sensor System

PubMed Central

Yuan, Xuebing; Yu, Shuai; Zhang, Shengzhi; Wang, Guoping; Liu, Sheng

2015-01-01

Inertial navigation based on micro-electromechanical system (MEMS) inertial measurement units (IMUs) has attracted numerous researchers due to its high reliability and independence. The heading estimation, as one of the most important parts of inertial navigation, has been a research focus in this field. Heading estimation using magnetometers is perturbed by magnetic disturbances, such as indoor concrete structures and electronic equipment. The MEMS gyroscope is also used for heading estimation. However, the accuracy of gyroscope is unreliable with time. In this paper, a wearable multi-sensor system has been designed to obtain the high-accuracy indoor heading estimation, according to a quaternion-based unscented Kalman filter (UKF) algorithm. The proposed multi-sensor system including one three-axis accelerometer, three single-axis gyroscopes, one three-axis magnetometer and one microprocessor minimizes the size and cost. The wearable multi-sensor system was fixed on waist of pedestrian and the quadrotor unmanned aerial vehicle (UAV) for heading estimation experiments in our college building. The results show that the mean heading estimation errors are less 10° and 5° to multi-sensor system fixed on waist of pedestrian and the quadrotor UAV, respectively, compared to the reference path. PMID:25961384

Explaining as Mediated Action: An Analysis of Pre-Service Teachers' Account of Forces of Inertia in Non-Inertial Frames of Reference

ERIC Educational Resources Information Center

de Pereira, Alexsandro Pereira; Lima Junior, Paulo; Rodrigues, Renato Felix

2016-01-01

Explaining is one of the most important everyday practices in science education. In this article, we examine how scientific explanations could serve as cultural tools for members of a group of pre-service physics teachers. Specifically, we aim at their use of explanations about forces of inertia in non-inertial frames of reference. A basic…

Painting recognition with smartphones equipped with inertial measurement unit

NASA Astrophysics Data System (ADS)

Masiero, Andrea; Guarnieri, Alberto; Pirotti, Francesco; Vettore, Antonio

2015-06-01

Recently, several works have been proposed in the literature to take advantage of the diffusion of smartphones to improve people experience during museum visits. The rationale is that of substituting traditional written/audio guides with interactive electronic guides usable on a mobile phone. Augmented reality systems are usually considered to make the use of such electronic guides more effective for the user. The main goal of such augmented reality system (i.e. providing the user with the information of his/her interest) is usually achieved by properly executing the following three tasks: recognizing the object of interest to the user, retrieving the most relevant information about it, properly presenting the retrieved information. This paper focuses on the first task: we consider the problem of painting recognition by means of measure- ments provided by a smartphone. We assume that the user acquires one image of the painting of interest with the standard camera of the device. This image is compared with a set of reference images of the museum objects in order to recognize the object of interest to the user. Since comparing images taken in different conditions can lead to unsatisfactory recognition results, the acquired image is typically properly transformed in order to improve the results of the recognition system: first, the system estimates the homography between properly matched features in the two images. Then, the user image is transformed accordingly to the estimated homography. Finally, it is compared with the reference one. This work proposes a novel method to exploit inertial measurement unit (IMU) measurements to improve the system performance, in particular in terms of computational load reduction: IMU measurements are exploited to reduce both the computational burden required to estimate the transformation to be applied to the user image, and the number of reference images to be compared with it.

Pressure drop for inertial flows in elastic porous media

NASA Astrophysics Data System (ADS)

Pauthenet, Martin; Bottaro, Alessandro; Davit, Yohan; Quintard, Michel; porous media Team

2017-11-01

The effect of the porosity and of the elastic properties of anisotropic solid skeletons saturated by a fluid is studied for flows displaying unsteady inertial effects. Insight is achieved by direct numerical simulations of the Navier-Stokes equations for model porous media, with inclusions which can oscillate with respect to their reference positions because of the presence of a restoring elastic force modeled by a spring. The numerical technique is based on the immersed boundary method, to easily allow for the displacement of pores of arbitrary shapes and dimensions. Solid contacts are anelastic. The parameters examined include the local Reynolds number, Red , based on the mean velocity through the reference unit cell and the characteristic size of the inclusions, the direction of the macroscopic forcing pressure gradient, the reduced frequency, f*, ratio of the flow frequency to the natural frequency of the spring-mass system, and the reduced mass, m*, ratio of the solid to the fluid density. Results demonstrate the effect of these parameters, and permit to determine the filtration laws useful for the subsequent macroscopic modeling of these flows through the volume averaged Navier-Stokes equations. IDEX Foundation of the University of Toulouse and HPC resources of the CALMIP supercomputing center.

Strapdown cost trend study and forecast

NASA Technical Reports Server (NTRS)

Eberlein, A. J.; Savage, P. G.

1975-01-01

The potential cost advantages offered by advanced strapdown inertial technology in future commercial short-haul aircraft are summarized. The initial procurement cost and six year cost-of-ownership, which includes spares and direct maintenance cost were calculated for kinematic and inertial navigation systems such that traditional and strapdown mechanization costs could be compared. Cost results for the inertial navigation systems showed that initial costs and the cost of ownership for traditional triple redundant gimbaled inertial navigators are three times the cost of the equivalent skewed redundant strapdown inertial navigator. The net cost advantage for the strapdown kinematic system is directly attributable to the reduction in sensor count for strapdown. The strapdown kinematic system has the added advantage of providing a fail-operational inertial navigation capability for no additional cost due to the use of inertial grade sensors and attitude reference computers.

120. INERTIAL MEASUREMENT UNIT (IMU) NITROGEN PURGE REGULATOR PANEL FOR ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

120. INERTIAL MEASUREMENT UNIT (IMU) NITROGEN PURGE REGULATOR PANEL FOR DEFENSE METEOROLOGICAL SYSTEM PROGRAM (DMSP) PAYLOADS IN SOUTHWEST CORNER OF VEHICLE MECHANICAL SYSTEMS ROOM (111), LSB (BLDG. 770) - Vandenberg Air Force Base, Space Launch Complex 3, Launch Pad 3 West, Napa & Alden Roads, Lompoc, Santa Barbara County, CA

Coordinates of Human Visual and Inertial Heading Perception.

PubMed

Crane, Benjamin Thomas

2015-01-01

Heading estimation involves both inertial and visual cues. Inertial motion is sensed by the labyrinth, somatic sensation by the body, and optic flow by the retina. Because the eye and head are mobile these stimuli are sensed relative to different reference frames and it remains unclear if a perception occurs in a common reference frame. Recent neurophysiologic evidence has suggested the reference frames remain separate even at higher levels of processing but has not addressed the resulting perception. Seven human subjects experienced a 2s, 16 cm/s translation and/or a visual stimulus corresponding with this translation. For each condition 72 stimuli (360° in 5° increments) were delivered in random order. After each stimulus the subject identified the perceived heading using a mechanical dial. Some trial blocks included interleaved conditions in which the influence of ±28° of gaze and/or head position were examined. The observations were fit using a two degree-of-freedom population vector decoder (PVD) model which considered the relative sensitivity to lateral motion and coordinate system offset. For visual stimuli gaze shifts caused shifts in perceived head estimates in the direction opposite the gaze shift in all subjects. These perceptual shifts averaged 13 ± 2° for eye only gaze shifts and 17 ± 2° for eye-head gaze shifts. This finding indicates visual headings are biased towards retina coordinates. Similar gaze and head direction shifts prior to inertial headings had no significant influence on heading direction. Thus inertial headings are perceived in body-centered coordinates. Combined visual and inertial stimuli yielded intermediate results.

Coordinates of Human Visual and Inertial Heading Perception

PubMed Central

Crane, Benjamin Thomas

2015-01-01

Heading estimation involves both inertial and visual cues. Inertial motion is sensed by the labyrinth, somatic sensation by the body, and optic flow by the retina. Because the eye and head are mobile these stimuli are sensed relative to different reference frames and it remains unclear if a perception occurs in a common reference frame. Recent neurophysiologic evidence has suggested the reference frames remain separate even at higher levels of processing but has not addressed the resulting perception. Seven human subjects experienced a 2s, 16 cm/s translation and/or a visual stimulus corresponding with this translation. For each condition 72 stimuli (360° in 5° increments) were delivered in random order. After each stimulus the subject identified the perceived heading using a mechanical dial. Some trial blocks included interleaved conditions in which the influence of ±28° of gaze and/or head position were examined. The observations were fit using a two degree-of-freedom population vector decoder (PVD) model which considered the relative sensitivity to lateral motion and coordinate system offset. For visual stimuli gaze shifts caused shifts in perceived head estimates in the direction opposite the gaze shift in all subjects. These perceptual shifts averaged 13 ± 2° for eye only gaze shifts and 17 ± 2° for eye-head gaze shifts. This finding indicates visual headings are biased towards retina coordinates. Similar gaze and head direction shifts prior to inertial headings had no significant influence on heading direction. Thus inertial headings are perceived in body-centered coordinates. Combined visual and inertial stimuli yielded intermediate results. PMID:26267865

Adaptive Estimation and Heuristic Optimization of Nonlinear Spacecraft Attitude Dynamics

DTIC Science & Technology

2016-09-15

Algorithm GPS Global Positioning System HOUF Higher Order Unscented Filter IC initial conditions IMM Interacting Multiple Model IMU Inertial Measurement Unit ...sources ranging from inertial measurement units to star sensors are used to construct observations for attitude estimation algorithms. The sensor...parameters. A single vector measurement will provide two independent parameters, as a unit vector constraint removes a DOF making the problem underdetermined

Velocity-Aided Attitude Estimation for Helicopter Aircraft Using Microelectromechanical System Inertial-Measurement Units.

PubMed

Lee, Sang Cheol; Hong, Sung Kyung

2016-12-11

This paper presents an algorithm for velocity-aided attitude estimation for helicopter aircraft using a microelectromechanical system inertial-measurement unit. In general, high- performance gyroscopes are used for estimating the attitude of a helicopter, but this type of sensor is very expensive. When designing a cost-effective attitude system, attitude can be estimated by fusing a low cost accelerometer and a gyro, but the disadvantage of this method is its relatively low accuracy. The accelerometer output includes a component that occurs primarily as the aircraft turns, as well as the gravitational acceleration. When estimating attitude, the accelerometer measurement terms other than gravitational ones can be considered as disturbances. Therefore, errors increase in accordance with the flight dynamics. The proposed algorithm is designed for using velocity as an aid for high accuracy at low cost. It effectively eliminates the disturbances of accelerometer measurements using the airspeed. The algorithm was verified using helicopter experimental data. The algorithm performance was confirmed through a comparison with an attitude estimate obtained from an attitude heading reference system based on a high accuracy optic gyro, which was employed as core attitude equipment in the helicopter.

Velocity-Aided Attitude Estimation for Helicopter Aircraft Using Microelectromechanical System Inertial-Measurement Units

PubMed Central

Lee, Sang Cheol; Hong, Sung Kyung

2016-01-01

This paper presents an algorithm for velocity-aided attitude estimation for helicopter aircraft using a microelectromechanical system inertial-measurement unit. In general, high- performance gyroscopes are used for estimating the attitude of a helicopter, but this type of sensor is very expensive. When designing a cost-effective attitude system, attitude can be estimated by fusing a low cost accelerometer and a gyro, but the disadvantage of this method is its relatively low accuracy. The accelerometer output includes a component that occurs primarily as the aircraft turns, as well as the gravitational acceleration. When estimating attitude, the accelerometer measurement terms other than gravitational ones can be considered as disturbances. Therefore, errors increase in accordance with the flight dynamics. The proposed algorithm is designed for using velocity as an aid for high accuracy at low cost. It effectively eliminates the disturbances of accelerometer measurements using the airspeed. The algorithm was verified using helicopter experimental data. The algorithm performance was confirmed through a comparison with an attitude estimate obtained from an attitude heading reference system based on a high accuracy optic gyro, which was employed as core attitude equipment in the helicopter. PMID:27973429

KSC-2009-1090

NASA Image and Video Library

2009-01-09

CAPE CANAVERAL, Fla. -- In the Space Station Processing Facility at NASA's Kennedy Space Center in Florida, an overhead crane lowers the ICS Exposed Facility, or ICS-EF, onto the Japanese Experiment Module's Experiment Logistics Module-Exposed Section, or ELM-ES, for installation. The ICS-EF is composed of several components, including an antenna, pointing mechanism, frequency converters, high-power amplifier and various sensors including the Earth sensor, Sun sensor and inertial reference unit. The ICS-EF is part of space shuttle Endeavour's payload on the STS-127 mission, targeted for launch on May 15. Photo credit: NASA/Jim Grossmann

KSC-2009-1085

NASA Image and Video Library

2009-01-09

CAPE CANAVERAL, Fla. -- In the Space Station Processing Facility at NASA's Kennedy Space Center in Florida, workers prepare the ICS Exposed Facility, ICS-EF, to be lifted and installed on the Japanese Experiment Module's Experiment Logistics Module-Exposed Section, or ELM-ES. The ICS-EF is composed of several components, including an antenna, pointing mechanism, frequency converters, high-power amplifier and various sensors including the Earth sensor, Sun sensor and inertial reference unit. The ICS-EF is part of space shuttle Endeavour's payload on the STS-127 mission, targeted for launch on May 15. Photo credit: NASA/Jim Grossmann

Recent Goddard Space Flight Center (GSFC) experience with on-orbit calibration of attitude sensors

NASA Technical Reports Server (NTRS)

Davis, W.; Hashmall, J.; Harman, R.

1992-01-01

The results of on-orbit calibration for several satellites by the flight Dynamics Facility (FDF) at GSFC are reviewed. The examples discussed include attitude calibrations for sensors, including fixed-head star trackers, fine sun sensors, three-axis magnetometers, and inertial reference units taken from recent experience with the Compton Gamma Ray observatory, the Upper Atmosphere Research Satellite, and the Extreme Ultraviolet Explorer calibration. The methods used and the results of calibration are discussed, as are the improvements attained from in-flight calibration.

The effect of inertial loading on wrist postural tremor in essential tremor.

PubMed

Héroux, M E; Pari, G; Norman, K E

2009-05-01

Determine the effect of inertial loading on the strength of motor unit entrainment and the synergistic/competitive interaction between central and mechanical reflex tremor components in subjects with essential tremor (ET). Twenty-three subjects with ET and 22 controls held their hand in an outstretched position while supporting sub-maximal loads (no-load, 5%, 15% and 25% 1-repetition maximum). Hand postural tremor and wrist extensor neuromuscular activity were recorded. Inertial loading resulted in a reduction in postural tremor in all ET subjects. The largest reduction in tremor amplitude occurred between 5% and 15% loads, which was associated with spectral separation of the mechanical reflex and central tremor components in a large number of ET subjects. Despite an increase in overall neuromuscular activity with inertial loading, EMG tremor spectral power did not increase with loading. The effect of inertial loading on postural tremor amplitude appears to be mediated in large part by its effect on the interaction between mechanical reflex and central tremor components. Also, ET is associated with a constant absolute level of motor unit entrainment. The amplitude of postural tremor is dependent on both central and peripheral factors, with proportionally greater motor unit entrainment occurring at low contraction intensities.

Inertial constraints on limb proprioception are independent of visual calibration.

PubMed

Riley, M A; Turvey, M T

2001-04-01

When the coincidence of a limb's spatial axes and inertial eigenvectors is broken, haptic proprioception of the limb's position conforms to the eigenvectors. Additionally, when prisms break the coincidence between an arm's visual and actual positions, haptic proprioception is shifted toward the visual-spatial direction. In 3 experiments, variation of the arm's mass distribution was combined with prism adaptation to investigate the hypothesis that the proprioceptive effects of inertial and visual manipulations are additive. This hypothesis was supported across manipulations of plane of motion, body posture, proprioceptive target, and proprioceptive experience during prism adaptation. Haptic proprioception seems to depend on local, physical reference frames that are relative to the physical reference frames for the body's environmental position and orientation.

Re-Examination of Globally Flat Space-Time

PubMed Central

Feldman, Michael R.

2013-01-01

In the following, we offer a novel approach to modeling the observed effects currently attributed to the theoretical concepts of “dark energy,” “dark matter,” and “dark flow.” Instead of assuming the existence of these theoretical concepts, we take an alternative route and choose to redefine what we consider to be inertial motion as well as what constitutes an inertial frame of reference in flat space-time. We adopt none of the features of our current cosmological models except for the requirement that special and general relativity be local approximations within our revised definition of inertial systems. Implicit in our ideas is the assumption that at “large enough” scales one can treat objects within these inertial systems as point-particles having an insignificant effect on the curvature of space-time. We then proceed under the assumption that time and space are fundamentally intertwined such that time- and spatial-translational invariance are not inherent symmetries of flat space-time (i.e., observable clock rates depend upon both relative velocity and spatial position within these inertial systems) and take the geodesics of this theory in the radial Rindler chart as the proper characterization of inertial motion. With this commitment, we are able to model solely with inertial motion the observed effects expected to be the result of “dark energy,” “dark matter,” and “dark flow.” In addition, we examine the potential observable implications of our theory in a gravitational system located within a confined region of an inertial reference frame, subsequently interpreting the Pioneer anomaly as support for our redefinition of inertial motion. As well, we extend our analysis into quantum mechanics by quantizing for a real scalar field and find a possible explanation for the asymmetry between matter and antimatter within the framework of these redefined inertial systems. PMID:24250790

Redundancy management of multiple KT-70 inertial measurement units applicable to the space shuttle

NASA Technical Reports Server (NTRS)

Cook, L. J.

1975-01-01

Results of an investigation of velocity failure detection and isolation for 3 inertial measuring units (IMU) and 2 inertial measuring units (IMU) configurations are presented. The failure detection and isolation algorithm performance was highly successful and most types of velocity errors were detected and isolated. The failure detection and isolation algorithm also included attitude FDI but was not evaluated because of the lack of time and low resolution in the gimbal angle synchro outputs. The shuttle KT-70 IMUs will have dual-speed resolvers and high resolution gimbal angle readouts. It was demonstrated by these tests that a single computer utilizing a serial data bus can successfully control a redundant 3-IMU system and perform FDI.

Sampling and Control Circuit Board for an Inertial Measurement Unit

NASA Technical Reports Server (NTRS)

Chelmins, David T (Inventor); Sands, Obed (Inventor); Powis, Richard T., Jr. (Inventor)

2016-01-01

A circuit board that serves as a control and sampling interface to an inertial measurement unit ("IMU") is provided. The circuit board is also configured to interface with a local oscillator and an external trigger pulse. The circuit board is further configured to receive the external trigger pulse from an external source that time aligns the local oscillator and initiates sampling of the inertial measurement device for data at precise time intervals based on pulses from the local oscillator. The sampled data may be synchronized by the circuit board with other sensors of a navigation system via the trigger pulse.

Differential GPS/inertial navigation approach/landing flight test results

NASA Technical Reports Server (NTRS)

Snyder, Scott; Schipper, Brian; Vallot, Larry; Parker, Nigel; Spitzer, Cary

1992-01-01

In November of 1990 a joint Honeywell/NASA-Langley differential GPS/inertial flight test was conducted at Wallops Island, Virginia. The test objective was to acquire a system performance database and demonstrate automatic landing using an integrated differential GPS/INS (Global Positioning System/inertial navigation system) with barometric and radar altimeters. The flight test effort exceeded program objectives with over 120 landings, 36 of which were fully automatic differential GPS/inertial landings. Flight test results obtained from post-flight data analysis are discussed. These results include characteristics of differential GPS/inertial error, using the Wallops Island Laser Tracker as a reference. Data on the magnitude of the differential corrections and vertical channel performance with and without radar altimeter augmentation are provided.

Structural Acoustic UXO Detection and Identification in Marine Environments

DTIC Science & Technology

2016-05-01

BOSS Buried Object Scanning Sonar DVL Doppler Velocity Log EW East/West IMU Inertial Measurement Unit NRL Naval Research Laboratory NSWC-PCD... Inertial Measurement Unit (IMU) to time-delay and coherently sum matched-filtered phase histories from subsurface focal points over a large number of... Measurement Unit (IMU) systems. In our imaging algorithm, the 2D depth image of a target, i.e. one mapped over x and z or y and z, presents the

Numerical algorithm for rigid body position estimation using the quaternion approach

NASA Astrophysics Data System (ADS)

Zigic, Miodrag; Grahovac, Nenad

2017-11-01

This paper deals with rigid body attitude estimation on the basis of the data obtained from an inertial measurement unit mounted on the body. The aim of this work is to present the numerical algorithm, which can be easily applied to the wide class of problems concerning rigid body positioning, arising in aerospace and marine engineering, or in increasingly popular robotic systems and unmanned aerial vehicles. Following the considerations of kinematics of rigid bodies, the relations between accelerations of different points of the body are given. A rotation matrix is formed using the quaternion approach to avoid singularities. We present numerical procedures for determination of the absolute accelerations of the center of mass and of an arbitrary point of the body expressed in the inertial reference frame, as well as its attitude. An application of the algorithm to the example of a heavy symmetrical gyroscope is presented, where input data for the numerical procedure are obtained from the solution of differential equations of motion, instead of using sensor measurements.

Modeling Navigation System Performance of a Satellite-Observing Star Tracker Tightly Integrated with an Inertial Measurement Unit

DTIC Science & Technology

2015-03-26

tracker, an Inertial Measurement Unit (IMU), and a barometric altimeter using an Extended Kalman Filter (EKF). Models of each of these components are...Positioning 15 2.5 Detector Device Improvement . . . . . . . . . . . . . . . 15 2.6 Kalman Filter . . . . . . . . . . . . . . . . . . . . . . . . 17 2.6.1...Extended Kalman Filter . . . . . . . . . . . . . 17 2.7 System Properties . . . . . . . . . . . . . . . . . . . . . 21 2.8 Sun Exitance

Optimal Attitude Control of Agile Spacecraft Using Combined Reaction Wheel and Control Moment Gyroscope Arrays

DTIC Science & Technology

2015-12-01

10 IMU Inertial Measurement Unit . . . . . . . . . . . . . . . . . . . . . . . . . 11 PS Pseudo...filters to diminish the effect of gyro corruption in the inertial measurement unit ( IMU ) [32]. Therefore, s/c states determined by the hardware...simulator’s IMU hold the required level of accuracy for characterization of the RWCMG system in the current research. Future external state measurement systems

Hand-writing motion tracking with vision-inertial sensor fusion: calibration and error correction.

PubMed

Zhou, Shengli; Fei, Fei; Zhang, Guanglie; Liu, Yunhui; Li, Wen J

2014-08-25

The purpose of this study was to improve the accuracy of real-time ego-motion tracking through inertial sensor and vision sensor fusion. Due to low sampling rates supported by web-based vision sensor and accumulation of errors in inertial sensors, ego-motion tracking with vision sensors is commonly afflicted by slow updating rates, while motion tracking with inertial sensor suffers from rapid deterioration in accuracy with time. This paper starts with a discussion of developed algorithms for calibrating two relative rotations of the system using only one reference image. Next, stochastic noises associated with the inertial sensor are identified using Allan Variance analysis, and modeled according to their characteristics. Finally, the proposed models are incorporated into an extended Kalman filter for inertial sensor and vision sensor fusion. Compared with results from conventional sensor fusion models, we have shown that ego-motion tracking can be greatly enhanced using the proposed error correction model.

Sensing Passive Eye Response to Impact Induced Head Acceleration Using MEMS IMUs.

PubMed

Meng, Yuan; Bottenfield, Brent; Bolding, Mark; Liu, Lei; Adams, Mark L

2018-02-01

The eye may act as a surrogate for the brain in response to head acceleration during an impact. Passive eye movements in a dynamic system are sensed by microelectromechanical systems (MEMS) inertial measurement units (IMU) in this paper. The technique is validated using a three-dimensional printed scaled human skull model and on human volunteers by performing drop-and-impact experiments with ribbon-style flexible printed circuit board IMUs inserted in the eyes and reference IMUs on the heads. Data are captured by a microcontroller unit and processed using data fusion. Displacements are thus estimated and match the measured parameters. Relative accelerations and displacements of the eye to the head are computed indicating the influence of the concussion causing impacts.

The Gaia inertial reference frame and the tilting of the Milky Way disk

DOE Office of Scientific and Technical Information (OSTI.GOV)

Perryman, Michael; Spergel, David N.; Lindegren, Lennart, E-mail: mac.perryman@gmail.com

2014-07-10

While the precise relationship between the Milky Way disk and the symmetry planes of the dark matter halo remains somewhat uncertain, a time-varying disk orientation with respect to an inertial reference frame seems probable. Hierarchical structure formation models predict that the dark matter halo is triaxial and tumbles with a characteristic rate of ∼2 rad H{sub 0}{sup −1} (∼30 μas yr{sup –1}). These models also predict a time-dependent accretion of gas, such that the angular momentum vector of the disk should be misaligned with that of the halo. These effects, as well as tidal effects of the LMC, will resultmore » in the rotation of the angular momentum vector of the disk population with respect to the quasar reference frame. We assess the accuracy with which the positions and proper motions from Gaia can be referred to a kinematically non-rotating system, and show that the spin vector of the transformation from any rigid self-consistent catalog frame to the quasi-inertial system defined by quasars should be defined to better than 1 μas yr{sup –1}. Determination of this inertial frame by Gaia will reveal any signature of the disk orientation varying with time, improve models of the potential and dynamics of the Milky Way, test theories of gravity, and provide new insights into the orbital evolution of the Sagittarius dwarf galaxy and the Magellanic Clouds.« less

Dragging of inertial frames.

PubMed

Ciufolini, Ignazio

2007-09-06

The origin of inertia has intrigued scientists and philosophers for centuries. Inertial frames of reference permeate our daily life. The inertial and centrifugal forces, such as the pull and push that we feel when our vehicle accelerates, brakes and turns, arise because of changes in velocity relative to uniformly moving inertial frames. A classical interpretation ascribed these forces to acceleration relative to some absolute frame independent of the cosmological matter, whereas an opposite view related them to acceleration relative to all the masses and 'fixed stars' in the Universe. An echo and partial realization of the latter idea can be found in Einstein's general theory of relativity, which predicts that a spinning mass will 'drag' inertial frames along with it. Here I review the recent measurements of frame dragging using satellites orbiting Earth.

A Novel Kalman Filter for Human Motion Tracking With an Inertial-Based Dynamic Inclinometer.

PubMed

Ligorio, Gabriele; Sabatini, Angelo M

2015-08-01

Design and development of a linear Kalman filter to create an inertial-based inclinometer targeted to dynamic conditions of motion. The estimation of the body attitude (i.e., the inclination with respect to the vertical) was treated as a source separation problem to discriminate the gravity and the body acceleration from the specific force measured by a triaxial accelerometer. The sensor fusion between triaxial gyroscope and triaxial accelerometer data was performed using a linear Kalman filter. Wrist-worn inertial measurement unit data from ten participants were acquired while performing two dynamic tasks: 60-s sequence of seven manual activities and 90 s of walking at natural speed. Stereophotogrammetric data were used as a reference. A statistical analysis was performed to assess the significance of the accuracy improvement over state-of-the-art approaches. The proposed method achieved, on an average, a root mean square attitude error of 3.6° and 1.8° in manual activities and locomotion tasks (respectively). The statistical analysis showed that, when compared to few competing methods, the proposed method improved the attitude estimation accuracy. A novel Kalman filter for inertial-based attitude estimation was presented in this study. A significant accuracy improvement was achieved over state-of-the-art approaches, due to a filter design that better matched the basic optimality assumptions of Kalman filtering. Human motion tracking is the main application field of the proposed method. Accurately discriminating the two components present in the triaxial accelerometer signal is well suited for studying both the rotational and the linear body kinematics.

Quantum mechanics in noninertial reference frames: Violations of the nonrelativistic equivalence principle

DOE Office of Scientific and Technical Information (OSTI.GOV)

Klink, W.H.; Wickramasekara, S., E-mail: wickrama@grinnell.edu; Department of Physics, Grinnell College, Grinnell, IA 50112

2014-01-15

In previous work we have developed a formulation of quantum mechanics in non-inertial reference frames. This formulation is grounded in a class of unitary cocycle representations of what we have called the Galilean line group, the generalization of the Galilei group that includes transformations amongst non-inertial reference frames. These representations show that in quantum mechanics, just as is the case in classical mechanics, the transformations to accelerating reference frames give rise to fictitious forces. A special feature of these previously constructed representations is that they all respect the non-relativistic equivalence principle, wherein the fictitious forces associated with linear acceleration canmore » equivalently be described by gravitational forces. In this paper we exhibit a large class of cocycle representations of the Galilean line group that violate the equivalence principle. Nevertheless the classical mechanics analogue of these cocycle representations all respect the equivalence principle. -- Highlights: •A formulation of Galilean quantum mechanics in non-inertial reference frames is given. •The key concept is the Galilean line group, an infinite dimensional group. •A large class of general cocycle representations of the Galilean line group is constructed. •These representations show violations of the equivalence principle at the quantum level. •At the classical limit, no violations of the equivalence principle are detected.« less

The Microwave Anisotropy Probe (MAP) Attitude Control System

NASA Technical Reports Server (NTRS)

Markley, F. Landis; Andrews, Stephen F.; ODonnell, James R., Jr.; Ward, David K.; Ericsson, Aprille J.; Bauer, Frank H. (Technical Monitor)

2002-01-01

The Microwave Anisotropy Probe mission is designed to produce a map of the cosmic microwave background radiation over the entire celestial sphere by executing a fast spin and a slow precession of its spin axis about the Sun line to obtain a highly interconnected set of measurements. The spacecraft attitude is sensed and controlled using an Inertial Reference Unit, two Autonomous Star Trackers, a Digital Sun Sensor, twelve Coarse Sun Sensors, three Reaction Wheel Assemblies, and a propulsion system. This paper describes the design of the attitude control system that carries out this mission and presents some early flight experience.

Localization of a mobile laser scanner via dimensional reduction

NASA Astrophysics Data System (ADS)

Lehtola, Ville V.; Virtanen, Juho-Pekka; Vaaja, Matti T.; Hyyppä, Hannu; Nüchter, Andreas

2016-11-01

We extend the concept of intrinsic localization from a theoretical one-dimensional (1D) solution onto a 2D manifold that is embedded in a 3D space, and then recover the full six degrees of freedom for a mobile laser scanner with a simultaneous localization and mapping algorithm (SLAM). By intrinsic localization, we mean that no reference coordinate system, such as global navigation satellite system (GNSS), nor inertial measurement unit (IMU) are used. Experiments are conducted with a 2D laser scanner mounted on a rolling prototype platform, VILMA. The concept offers potential in being extendable to other wheeled platforms.

The Microwave Anisotropy Probe (MAP) Mission

NASA Technical Reports Server (NTRS)

Markley, F. Landis; Andrews, Stephen F.; ODonnell, James R., Jr.; Ward, David K.; Bauer, Frank H. (Technical Monitor)

2002-01-01

The Microwave Anisotropy Probe mission is designed to produce a map of the cosmic microwave background radiation over the entire celestial sphere by executing a fast spin and a slow precession of its spin axis about the Sun line to obtain a highly interconnected set of measurements. The spacecraft attitude is sensed and controlled using an inertial reference unit, two star trackers, a digital sun sensor, twelve coarse sun sensors, three reaction wheel assemblies, and a propulsion system. This paper presents an overview of the design of the attitude control system to carry out this mission and presents some early flight experience.

The Microwave Anisotropy Probe (MAP) Mission

NASA Technical Reports Server (NTRS)

Markley, F. Landis; Andrews, Stephen F.; ODonnell, James R., Jr.; Ward, David K.; Ericsson, Aprille J.; Bauer, Frank H. (Technical Monitor)

2002-01-01

The Microwave Anisotropy Probe mission is designed to produce a map of the cosmic microwave background radiation over the entire celestial sphere by executing a fast spin and a slow precession of its spin axis about the Sun line to obtain a highly interconnected set of measurements. The spacecraft attitude is sensed and controlled using an Inertial Reference Unit, two Autonomous Star Trackers, a Digital Sun Sensor, twelve Coarse Sun Sensors, three Reaction Wheel Assemblies, and a propulsion system. This paper describes the design of the attitude control system that carries out this mission and presents some early flight experience.

KSC-2009-1086

NASA Image and Video Library

2009-01-09

CAPE CANAVERAL, Fla. -- In the Space Station Processing Facility at NASA's Kennedy Space Center in Florida, the ICS Exposed Facility, or ICS-EF, is lifted from its stand. It will be installed on the Japanese Experiment Module's Experiment Logistics Module-Exposed Section, or ELM-ES. The ICS-EF is composed of several components, including an antenna, pointing mechanism, frequency converters, high-power amplifier and various sensors including the Earth sensor, Sun sensor and inertial reference unit. The ICS-EF is part of space shuttle Endeavour's payload on the STS-127 mission, targeted for launch on May 15. Photo credit: NASA/Jim Grossmann

KSC-2009-1087

NASA Image and Video Library

2009-01-09

CAPE CANAVERAL, Fla. -- In the Space Station Processing Facility at NASA's Kennedy Space Center in Florida, workers examine the ICS Exposed Facility, or ICS-EF, after it is lifted from its stand. It will be installed on the Japanese Experiment Module's Experiment Logistics Module-Exposed Section, or ELM-ES. The ICS-EF is composed of several components, including an antenna, pointing mechanism, frequency converters, high-power amplifier and various sensors including the Earth sensor, Sun sensor and inertial reference unit. The ICS-EF is part of space shuttle Endeavour's payload on the STS-127 mission, targeted for launch on May 15. Photo credit: NASA/Jim Grossmann

DOE Office of Scientific and Technical Information (OSTI.GOV)

Poivey, C.; Notebaert, O.; Garnier, P.

The ARIANE5 On Board Computer (OBC) and Inertial Reference System (SRI) are based on Motorola MC68020 processor and MC68882 coprocessor. The SRI data acquisition board also uses the DSP TMS320C25 from Texas Instruments. These devices were characterized to proton induced SEUs. But representativeness of SEU test results on processors was questioned during ARIANE5 studies. Protons test of these devices were also performed in the actual equipments with flight (or representative of) softwares. The results show that the On Board Computer and the Inertial Reference System can satisfy the requirements of the ARIANE5 missions.

Estimating orientation using magnetic and inertial sensors and different sensor fusion approaches: accuracy assessment in manual and locomotion tasks.

PubMed

Bergamini, Elena; Ligorio, Gabriele; Summa, Aurora; Vannozzi, Giuseppe; Cappozzo, Aurelio; Sabatini, Angelo Maria

2014-10-09

Magnetic and inertial measurement units are an emerging technology to obtain 3D orientation of body segments in human movement analysis. In this respect, sensor fusion is used to limit the drift errors resulting from the gyroscope data integration by exploiting accelerometer and magnetic aiding sensors. The present study aims at investigating the effectiveness of sensor fusion methods under different experimental conditions. Manual and locomotion tasks, differing in time duration, measurement volume, presence/absence of static phases, and out-of-plane movements, were performed by six subjects, and recorded by one unit located on the forearm or the lower trunk, respectively. Two sensor fusion methods, representative of the stochastic (Extended Kalman Filter) and complementary (Non-linear observer) filtering, were selected, and their accuracy was assessed in terms of attitude (pitch and roll angles) and heading (yaw angle) errors using stereophotogrammetric data as a reference. The sensor fusion approaches provided significantly more accurate results than gyroscope data integration. Accuracy improved mostly for heading and when the movement exhibited stationary phases, evenly distributed 3D rotations, it occurred in a small volume, and its duration was greater than approximately 20 s. These results were independent from the specific sensor fusion method used. Practice guidelines for improving the outcome accuracy are provided.

Work and Inertial Frames

NASA Astrophysics Data System (ADS)

Kaufman, Richard

2017-12-01

A fairly recent paper resolves a large discrepancy in the internal energy utilized to fire a cannon as calculated by two inertial observers. Earth and its small reaction velocity must be considered in the system so that the change in kinetic energy is calculated correctly. This paper uses a car in a similar scenario, but considers the work done by forces acting over distances. An analysis of the system must include all energy interactions, including the work done on the car and especially the (negative) work done on Earth in a moving reference frame. This shows the importance of considering the force on Earth and the distance Earth travels. For calculation of work in inertial reference frames, the center of mass perspective is shown to be useful. We also consider the energy requirements to efficiently accelerate a mass among interacting masses.

Parametrically disciplined operation of a vibratory gyroscope

NASA Technical Reports Server (NTRS)

Shcheglov, Kirill V. (Inventor); Challoner, A. Dorian (Inventor); Hayworth, Ken J. (Inventor); Peay, Chris S. (Inventor)

2008-01-01

Parametrically disciplined operation of a symmetric nearly degenerate mode vibratory gyroscope is disclosed. A parametrically-disciplined inertial wave gyroscope having a natural oscillation frequency in the neighborhood of a sub-harmonic of an external stable clock reference is produced by driving an electrostatic bias electrode at approximately twice this sub-harmonic frequency to achieve disciplined frequency and phase operation of the resonator. A nearly symmetric parametrically-disciplined inertial wave gyroscope that can oscillate in any transverse direction and has more than one bias electrostatic electrode that can be independently driven at twice its oscillation frequency at an amplitude and phase that disciplines its damping to zero in any vibration direction. In addition, operation of a parametrically-disciplined inertial wave gyroscope is taught in which the precession rate of the driven vibration pattern is digitally disciplined to a prescribed non-zero reference value.

Vision sensor and dual MEMS gyroscope integrated system for attitude determination on moving base

NASA Astrophysics Data System (ADS)

Guo, Xiaoting; Sun, Changku; Wang, Peng; Huang, Lu

2018-01-01

To determine the relative attitude between the objects on a moving base and the base reference system by a MEMS (Micro-Electro-Mechanical Systems) gyroscope, the motion information of the base is redundant, which must be removed from the gyroscope. Our strategy is to add an auxiliary gyroscope attached to the reference system. The master gyroscope is to sense the total motion, and the auxiliary gyroscope is to sense the motion of the moving base. By a generalized difference method, relative attitude in a non-inertial frame can be determined by dual gyroscopes. With the vision sensor suppressing accumulative drift of the MEMS gyroscope, the vision and dual MEMS gyroscope integration system is formed. Coordinate system definitions and spatial transform are executed in order to fuse inertial and visual data from different coordinate systems together. And a nonlinear filter algorithm, Cubature Kalman filter, is used to fuse slow visual data and fast inertial data together. A practical experimental setup is built up and used to validate feasibility and effectiveness of our proposed attitude determination system in the non-inertial frame on the moving base.

Design of an intelligent flight instrumentation unit using embedded RTOS

NASA Astrophysics Data System (ADS)

Estrada-Marmolejo, R.; García-Torales, G.; Torres-Ortega, H. H.; Flores, J. L.

2011-09-01

Micro Unmanned Aerial Vehicles (MUAV) must calculate its spatial position to control the flight dynamics, which is done by Inertial Measurement Units (IMUs). MEMS Inertial sensors have made possible to reduce the size and power consumption of such units. Commonly the flight instrumentation operates independently of the main processor. This work presents an instrumentation block design, which reduces size and power consumption of the complete system of a MUAV. This is done by coupling the inertial sensors to the main processor without considering any intermediate level of processing aside. Using Real Time Operating Systems (RTOS) reduces the number of intermediate components, increasing MUAV reliability. One advantage is the possibility to control several different sensors with a single communication bus. This feature of the MEMS sensors makes a smaller and less complex MUAV design possible.

Description of a dual fail-operational redundant strapdown inertial measurement unit for integrated avionics systems research

NASA Technical Reports Server (NTRS)

Bryant, W. H.; Morrell, F. R.

1981-01-01

Attention is given to a redundant strapdown inertial measurement unit for integrated avionics. The system consists of four two-degree-of-freedom turned rotor gyros and four two-degree-of-freedom accelerometers in a skewed and separable semi-octahedral array. The unit is coupled through instrument electronics to two flight computers which compensate sensor errors. The flight computers are interfaced to the microprocessors and process failure detection, isolation, redundancy management and flight control/navigation algorithms. The unit provides dual fail-operational performance and has data processing frequencies consistent with integrated avionics concepts presently planned.

Heightened clinical utility of smartphone versus body-worn inertial system for shoulder function B-B score.

PubMed

Pichonnaz, Claude; Aminian, Kamiar; Ancey, Céline; Jaccard, Hervé; Lécureux, Estelle; Duc, Cyntia; Farron, Alain; Jolles, Brigitte M; Gleeson, Nigel

2017-01-01

The B-B Score is a straightforward kinematic shoulder function score including only two movements (hand to the Back + lift hand as to change a Bulb) that demonstrated sound measurement properties for patients for various shoulder pathologies. However, the B-B Score results using a smartphone or a reference system have not yet been compared. Provided that the measurement properties are comparable, the use of a smartphone would offer substantial practical advantages. This study investigated the concurrent validity of a smartphone and a reference inertial system for the measurement of the kinematic shoulder function B-B Score. Sixty-five patients with shoulder conditions (with rotator cuff conditions, adhesive capsulitis and proximal humerus fracture) and 20 healthy participants were evaluated using a smartphone and a reference inertial system. Measurements were performed twice, alternating between two evaluators. The B-B Score differences between groups, differences between devices, relationship between devices, intra- and inter-evaluator reproducibility were analysed. The smartphone mean scores (SD) were 94.1 (11.1) for controls and 54.1 (18.3) for patients (P < 0.01). The difference between devices was non-significant for the control (P = 0.16) and the patient group (P = 0.81). The analysis of the relationship between devices showed 0.97 ICC, -0.6 bias and -13.2 to 12.0 limits of agreement (LOA). The smartphone intra-evaluator ICC was 0.92, the bias 1.5 and the LOA -17.4 to 20.3. The smartphone inter-evaluator ICC was 0.92, the bias 1.5 and the LOA -16.9 to 20.0. The B-B Score results measured with a smartphone were comparable to those of an inertial system. While single measurements diverged in some cases, the intra- and inter-evaluator reproducibility was excellent and was equivalent between devices. The B-B score measured with a smartphone is straightforward and as efficient as a reference inertial system measurement.

Heightened clinical utility of smartphone versus body-worn inertial system for shoulder function B-B score

PubMed Central

Aminian, Kamiar; Ancey, Céline; Jaccard, Hervé; Lécureux, Estelle; Duc, Cyntia; Farron, Alain; Jolles, Brigitte M.; Gleeson, Nigel

2017-01-01

Background The B-B Score is a straightforward kinematic shoulder function score including only two movements (hand to the Back + lift hand as to change a Bulb) that demonstrated sound measurement properties for patients for various shoulder pathologies. However, the B-B Score results using a smartphone or a reference system have not yet been compared. Provided that the measurement properties are comparable, the use of a smartphone would offer substantial practical advantages. This study investigated the concurrent validity of a smartphone and a reference inertial system for the measurement of the kinematic shoulder function B-B Score. Methods Sixty-five patients with shoulder conditions (with rotator cuff conditions, adhesive capsulitis and proximal humerus fracture) and 20 healthy participants were evaluated using a smartphone and a reference inertial system. Measurements were performed twice, alternating between two evaluators. The B-B Score differences between groups, differences between devices, relationship between devices, intra- and inter-evaluator reproducibility were analysed. Results The smartphone mean scores (SD) were 94.1 (11.1) for controls and 54.1 (18.3) for patients (P < 0.01). The difference between devices was non-significant for the control (P = 0.16) and the patient group (P = 0.81). The analysis of the relationship between devices showed 0.97 ICC, −0.6 bias and −13.2 to 12.0 limits of agreement (LOA). The smartphone intra-evaluator ICC was 0.92, the bias 1.5 and the LOA −17.4 to 20.3. The smartphone inter-evaluator ICC was 0.92, the bias 1.5 and the LOA −16.9 to 20.0. Conclusions The B-B Score results measured with a smartphone were comparable to those of an inertial system. While single measurements diverged in some cases, the intra- and inter-evaluator reproducibility was excellent and was equivalent between devices. The B-B score measured with a smartphone is straightforward and as efficient as a reference inertial system measurement. PMID:28319141

A Personal Inertial Navigation System Based on Multiple Distributed, Nine-Degrees-Of-Freedom, Inertial Measurement Units

DTIC Science & Technology

2016-12-01

based complementary filter developed at the Naval Postgraduate School, is developed. The performance of a consumer-grade nine-degrees-of-freedom IMU...measurement unit, complementary filter , gait phase detection, zero velocity update, MEMS, IMU, AHRS, GPS denied, distributed sensor, virtual sensor...algorithm and quaternion-based complementary filter developed at the Naval Postgraduate School, is developed. The performance of a consumer-grade nine

Pose and Wind Estimation for Autonomous Parafoils

DTIC Science & Technology

2014-09-01

Communications GT Georgia Institute of Technology IDVD Inverse Dynamics in the Virtual Domain IMU inertial measurement unit INRIA Institut National de Recherche en...sensor. The method used is a nonlinear estimator that combines the visual sensor measurements with those of an inertial measurement unit ( IMU ) on... isolated on the left side of the equation. On the other hand, when the measurement equation of (3.27) is implemented, the probabil- 58 ity

Determination of the lunar orbital and rotational parameters and of the ecliptic reference system orientation from LLR measurements and IERS data

NASA Astrophysics Data System (ADS)

Chapront, J.; Chapront-Touzé, M.; Francou, G.

1999-03-01

An analysis of Lunar Laser Ranging (LLR) observations from January 1972 till March 1998 is performed using the lunar theory ELP 2000-96 and the completed Moons' theory of the lunar libration. The LLR station coordinates, polar motion and Universal Time are provided by the International Earth Rotation Service (IERS). In Solution 1 the precession-nutation transformation is given by recent analytical theories, while in Solution 2 it is derived from the IERS daily corrections. Orbital and free libration parameters of the Moon, and coordinates of the reflectors are obtained in both cases. The position of the inertial mean ecliptic of J2000.0 with respect to the equator of the mean Celestial Ephemeris Pole (CEP) of J2000.0 (in Solution 1) and to the International Celestial Reference System (ICRS), the IERS celestial reference system, (in Solution 2) are fit. The position of the mean CEP equator of J2000.0 and of several dynamical reference planes and origins, with respect to ICRS, are derived from these fits (Fig. 1). The leading results are the following: 0farcs057 60+/- 0farcs000 20 (in the equator) for the separation of the origin of right ascensions in ICRS from the ascending node of the inertial mean ecliptic of J2000.0 on the reference plane of ICRS, -0farcs0460 +/- 0farcs0008 (in the ecliptic) for the separation of the latter point from the inertial dynamical mean equinox of J2000.0, -0farcs015 19+/- 0farcs000 35 (in the equator) for the separation of the inertial dynamical mean equinox of J2000.0 from the J2000.0 right ascension origin derived from IERS polar motion and Universal Time and from precise theories of precession-nutation, and 23degr26 arcmin21 farcs405 22+/- 0farcs000 07 for the inertial obliquity of J2000.0. A correction of -0farcs3437 +/- 0farcs0040 /cy to the IAU 1976 value of the precession constant is also obtained (the errors quoted are formal errors).

Cases Study of Nonlinear Interaction Between Near-Inertial Waves Induced by Typhoon and Diurnal Tides Near the Xisha Islands

NASA Astrophysics Data System (ADS)

Liu, Junliang; He, Yinghui; Li, Juan; Cai, Shuqun; Wang, Dongxiao; Huang, Yandan

2018-04-01

Nonlinear interaction between near-inertial waves (NIWs) and diurnal tides (DTs) after nine typhoons near the Xisha Islands of the northwestern South China Sea (SCS) were investigated using three-year in situ mooring observation data. It was found that a harmonic wave (f + D1, hereafter referred to as fD1 wave), with a frequency equal to the sum of frequencies of NIWs and DTs (hereafter referred to as f and D1, respectively), was generated via nonlinear interaction between typhoon-induced NIWs and DTs after each typhoon. The fD1 wave mainly concentrates in the subsurface layer, and is mainly induced by the first component of the vertical nonlinear momentum term, the product of the vertical velocity of DT and vertical shear of near-inertial current (hereafter referred to as Component 1), in which the vertical shear of the near-inertial current greatly affects the strength of the fD1 current. The larger the Component 1, the stronger the fD1 currents. The background preexisting mesoscale anticyclonic eddy near the mooring site may also enhance the vertical velocity of DT and thus Component 1, which subsequently facilitates the nonlinear interaction-induced energy transfer to the fD1 wave and enhances the fD1 currents after the passage of a typhoon.

Inertial processing of vestibulo-ocular signals

NASA Technical Reports Server (NTRS)

Hess, B. J.; Angelaki, D. E.

1999-01-01

New evidence for a central resolution of gravito-inertial signals has been recently obtained by analyzing the properties of the vestibulo-ocular reflex (VOR) in response to combined lateral translations and roll tilts of the head. It is found that the VOR generates robust compensatory horizontal eye movements independent of whether or not the interaural translatory acceleration component is canceled out by a gravitational acceleration component due to simultaneous roll-tilt. This response property of the VOR depends on functional semicircular canals, suggesting that the brain uses both otolith and semicircular canal signals to estimate head motion relative to inertial space. Vestibular information about dynamic head attitude relative to gravity is the basis for computing head (and body) angular velocity relative to inertial space. Available evidence suggests that the inertial vestibular system controls both head attitude and velocity with respect to a gravity-centered reference frame. The basic computational principles underlying the inertial processing of otolith and semicircular canal afferent signals are outlined.

Hand-Writing Motion Tracking with Vision-Inertial Sensor Fusion: Calibration and Error Correction

PubMed Central

Zhou, Shengli; Fei, Fei; Zhang, Guanglie; Liu, Yunhui; Li, Wen J.

2014-01-01

The purpose of this study was to improve the accuracy of real-time ego-motion tracking through inertial sensor and vision sensor fusion. Due to low sampling rates supported by web-based vision sensor and accumulation of errors in inertial sensors, ego-motion tracking with vision sensors is commonly afflicted by slow updating rates, while motion tracking with inertial sensor suffers from rapid deterioration in accuracy with time. This paper starts with a discussion of developed algorithms for calibrating two relative rotations of the system using only one reference image. Next, stochastic noises associated with the inertial sensor are identified using Allan Variance analysis, and modeled according to their characteristics. Finally, the proposed models are incorporated into an extended Kalman filter for inertial sensor and vision sensor fusion. Compared with results from conventional sensor fusion models, we have shown that ego-motion tracking can be greatly enhanced using the proposed error correction model. PMID:25157546

The Dangers of Failure Masking in Fault-Tolerant Software: Aspects of a Recent In-Flight Upset Event

NASA Technical Reports Server (NTRS)

Johnson, C. W.; Holloway, C. M.

2007-01-01

On 1 August 2005, a Boeing Company 777-200 aircraft, operating on an international passenger flight from Australia to Malaysia, was involved in a significant upset event while flying on autopilot. The Australian Transport Safety Bureau's investigation into the event discovered that an anomaly existed in the component software hierarchy that allowed inputs from a known faulty accelerometer to be processed by the air data inertial reference unit (ADIRU) and used by the primary flight computer, autopilot and other aircraft systems. This anomaly had existed in original ADIRU software, and had not been detected in the testing and certification process for the unit. This paper describes the software aspects of the incident in detail, and suggests possible implications concerning complex, safety-critical, fault-tolerant software.

Systems and Methods for Determining Inertial Navigation System Faults

NASA Technical Reports Server (NTRS)

Bharadwaj, Raj Mohan (Inventor); Bageshwar, Vibhor L. (Inventor); Kim, Kyusung (Inventor)

2017-01-01

An inertial navigation system (INS) includes a primary inertial navigation system (INS) unit configured to receive accelerometer measurements from an accelerometer and angular velocity measurements from a gyroscope. The primary INS unit is further configured to receive global navigation satellite system (GNSS) signals from a GNSS sensor and to determine a first set of kinematic state vectors based on the accelerometer measurements, the angular velocity measurements, and the GNSS signals. The INS further includes a secondary INS unit configured to receive the accelerometer measurements and the angular velocity measurements and to determine a second set of kinematic state vectors of the vehicle based on the accelerometer measurements and the angular velocity measurements. A health management system is configured to compare the first set of kinematic state vectors and the second set of kinematic state vectors to determine faults associated with the accelerometer or the gyroscope based on the comparison.

NAVSIM 2: A computer program for simulating aided-inertial navigation for aircraft

NASA Technical Reports Server (NTRS)

Bjorkman, William S.

1987-01-01

NAVSIM II, a computer program for analytical simulation of aided-inertial navigation for aircraft, is described. The description is supported by a discussion of the program's application to the design and analysis of aided-inertial navigation systems as well as instructions for utilizing the program and for modifying it to accommodate new models, constraints, algorithms and scenarios. NAVSIM II simulates an airborne inertial navigation system built around a strapped-down inertial measurement unit and aided in its function by GPS, Doppler radar, altimeter, airspeed, and position-fix measurements. The measurements are incorporated into the navigation estimate via a UD-form Kalman filter. The simulation was designed and implemented using structured programming techniques and with particular attention to user-friendly operation.

Active Vibration Isolation Devices with Inertial Servo Actuators

NASA Astrophysics Data System (ADS)

Melik-Shakhnazarov, V. A.; Strelov, V. I.; Sofiyanchuk, D. V.; Tregubenko, A. A.

2018-03-01

The use of active vibration isolation devices (AVIDs) in aerospace engineering is subject to the following restrictions. First, the volume for installing additional devices is always limited in instrument racks and compartments. Secondly, in many cases, it is impossible to add supports for servo actuators for fundamental or design considerations. In the paper, it has been shown that this problem can be solved if the inertial servo actuators are used in AVIDs instead of reference actuators. A transfer function has been theoretically calculated for an AVID controlled by inertial actuators. It has been shown that the volume of a six-mode single-housing AVID with inertial actuators can be 2-2.5 times smaller than that of devices with support actuators.

A low-cost inertial smoothing system for landing approach guidance

NASA Technical Reports Server (NTRS)

Niessen, F. R.

1973-01-01

Accurate position and velocity information with low noise content for instrument approaches and landings is required for both control and display applications. In a current VTOL automatic instrument approach and landing research program, radar-derived landing guidance position reference signals, which are noisy, have been mixed with acceleration information derived from low-cost onboard sensors to provide high-quality position and velocity information. An in-flight comparison of signal quality and accuracy has shown good agreement between the low-cost inertial smoothing system and an aided inertial navigation system. Furthermore, the low-cost inertial smoothing system has been proven to be satisfactory in control and display system applications for both automatic and pilot-in-the-loop instrument approaches and landings.

Flying over uneven moving terrain based on optic-flow cues without any need for reference frames or accelerometers.

PubMed

Expert, Fabien; Ruffier, Franck

2015-02-26

Two bio-inspired guidance principles involving no reference frame are presented here and were implemented in a rotorcraft, which was equipped with panoramic optic flow (OF) sensors but (as in flying insects) no accelerometer. To test these two guidance principles, we built a tethered tandem rotorcraft called BeeRotor (80 grams), which was tested flying along a high-roofed tunnel. The aerial robot adjusts its pitch and hence its speed, hugs the ground and lands safely without any need for an inertial reference frame. The rotorcraft's altitude and forward speed are adjusted via two OF regulators piloting the lift and the pitch angle on the basis of the common-mode and differential rotor speeds, respectively. The robot equipped with two wide-field OF sensors was tested in order to assess the performances of the following two systems of guidance involving no inertial reference frame: (i) a system with a fixed eye orientation based on the curved artificial compound eye (CurvACE) sensor, and (ii) an active system of reorientation based on a quasi-panoramic eye which constantly realigns its gaze, keeping it parallel to the nearest surface followed. Safe automatic terrain following and landing were obtained with CurvACE under dim light to daylight conditions and the active eye-reorientation system over rugged, changing terrain, without any need for an inertial reference frame.

Motion of a Point Mass in a Rotating Disc: A Quantitative Analysis of the Coriolis and Centrifugal Force

NASA Astrophysics Data System (ADS)

Haddout, Soufiane

2016-06-01

In Newtonian mechanics, the non-inertial reference frames is a generalization of Newton's laws to any reference frames. While this approach simplifies some problems, there is often little physical insight into the motion, in particular into the effects of the Coriolis force. The fictitious Coriolis force can be used by anyone in that frame of reference to explain why objects follow curved paths. In this paper, a mathematical solution based on differential equations in non-inertial reference is used to study different types of motion in rotating system. In addition, the experimental data measured on a turntable device, using a video camera in a mechanics laboratory was conducted to compare with mathematical solution in case of parabolically curved, solving non-linear least-squares problems, based on Levenberg-Marquardt's and Gauss-Newton algorithms.

Description of a dual fail operational redundant strapdown inertial measurement unit for integrated avionics systems research

NASA Technical Reports Server (NTRS)

Bryant, W. H.; Morrell, F. R.

1981-01-01

An experimental redundant strapdown inertial measurement unit (RSDIMU) is developed as a link to satisfy safety and reliability considerations in the integrated avionics concept. The unit includes four two degree-of-freedom tuned rotor gyros, and four accelerometers in a skewed and separable semioctahedral array. These sensors are coupled to four microprocessors which compensate sensor errors. These microprocessors are interfaced with two flight computers which process failure detection, isolation, redundancy management, and general flight control/navigation algorithms. Since the RSDIMU is a developmental unit, it is imperative that the flight computers provide special visibility and facility in algorithm modification.

Flight evaluation of differential GPS aided inertial navigation systems

NASA Technical Reports Server (NTRS)

Mcnally, B. David; Paielli, Russell A.; Bach, Ralph E., Jr.; Warner, David N., Jr.

1992-01-01

Algorithms are described for integration of Differential Global Positioning System (DGPS) data with Inertial Navigation System (INS) data to provide an integrated DGPS/INS navigation system. The objective is to establish the benefits that can be achieved through various levels of integration of DGPS with INS for precision navigation. An eight state Kalman filter integration was implemented in real-time on a twin turbo-prop transport aircraft to evaluate system performance during terminal approach and landing operations. A fully integrated DGPS/INS system is also presented which models accelerometer and rate-gyro measurement errors plus position, velocity, and attitude errors. The fully integrated system was implemented off-line using range-domain (seventeen-state) and position domain (fifteen-state) Kalman filters. Both filter integration approaches were evaluated using data collected during the flight test. Flight-test data consisted of measurements from a 5 channel Precision Code GPS receiver, a strap-down Inertial Navigation Unit (INU), and GPS satellite differential range corrections from a ground reference station. The aircraft was laser tracked to determine its true position. Results indicate that there is no significant improvement in positioning accuracy with the higher levels of DGPS/INS integration. All three systems provided high-frequency (e.g., 20 Hz) estimates of position and velocity. The fully integrated system provided estimates of inertial sensor errors which may be used to improve INS navigation accuracy should GPS become unavailable, and improved estimates of acceleration, attitude, and body rates which can be used for guidance and control. Precision Code DGPS/INS positioning accuracy (root-mean-square) was 1.0 m cross-track and 3.0 m vertical. (This AGARDograph was sponsored by the Guidance and Control Panel.)

Initial Performance of the Attitude Control and Aspect Determination Subsystems on the Chandra Observatory

NASA Technical Reports Server (NTRS)

Cameron, R.; Aldcroft, T.; Podgorski, W. A.; Freeman, M. D.

2000-01-01

The aspect determination system of the Chandra X-ray Observatory plays a key role in realizing the full potential of Chandra's X-ray optics and detectors. We review the performance of the spacecraft hardware components and sub-systems, which provide information for both real time control of the attitude and attitude stability of the Chandra Observatory and also for more accurate post-facto attitude reconstruction. These flight components are comprised of the aspect camera (star tracker) and inertial reference units (gyros), plus the fiducial lights and fiducial transfer optics which provide an alignment null reference system for the science instruments and X-ray optics, together with associated thermal and structural components. Key performance measures will be presented for aspect camera focal plane data, gyro performance both during stable pointing and during maneuvers, alignment stability and mechanism repeatability.

Strapdown system redundancy management flight demonstration. [vertical takeoff and landing aircraft

NASA Technical Reports Server (NTRS)

1978-01-01

The suitability of strapdown inertial systems in providing highly reliable short-term navigation for vertical take-off and landing (VTOL) aircraft operating in an intra-urban setting under all-weather conditions was assessed. A preliminary design configuration of a skewed sensor inertial reference system employing a redundancy management concept to achieve fail-operational, fail-operational performance, was developed.

A novel redundant INS based on triple rotary inertial measurement units

NASA Astrophysics Data System (ADS)

Chen, Gang; Li, Kui; Wang, Wei; Li, Peng

2016-10-01

Accuracy and reliability are two key performances of inertial navigation system (INS). Rotation modulation (RM) can attenuate the bias of inertial sensors and make it possible for INS to achieve higher navigation accuracy with lower-class sensors. Therefore, the conflict between the accuracy and cost of INS can be eased. Traditional system redundancy and recently researched sensor redundancy are two primary means to improve the reliability of INS. However, how to make the best use of the redundant information from redundant sensors hasn’t been studied adequately, especially in rotational INS. This paper proposed a novel triple rotary unit strapdown inertial navigation system (TRUSINS), which combines RM and sensor redundancy design to enhance the accuracy and reliability of rotational INS. Each rotary unit independently rotates to modulate the errors of two gyros and two accelerometers. Three units can provide double sets of measurements along all three axes of body frame to constitute a couple of INSs which make TRUSINS redundant. Experiments and simulations based on a prototype which is made up of six fiber-optic gyros with drift stability of 0.05° h-1 show that TRUSINS can achieve positioning accuracy of about 0.256 n mile h-1, which is ten times better than that of a normal non-rotational INS with the same level inertial sensors. The theoretical analysis and the experimental results show that due to the advantage of the innovative structure, the designed fault detection and isolation (FDI) strategy can tolerate six sensor faults at most, and is proved to be effective and practical. Therefore, TRUSINS is particularly suitable and highly beneficial for the applications where high accuracy and high reliability is required.

State Derivation of a 12-Axis Gyroscope-Free Inertial Measurement Unit

PubMed Central

Lu, Jau-Ching; Lin, Pei-Chun

2011-01-01

The derivation of linear acceleration, angular acceleration, and angular velocity states from a 12-axis gyroscope-free inertial measurement unit that utilizes four 3-axis accelerometer measurements at four distinct locations is reported. Particularly, a new algorithm which derives the angular velocity from its quadratic form and derivative form based on the context-based interacting multiple model is demonstrated. The performance of the system was evaluated under arbitrary 3-dimensional motion. PMID:22163791

Underwater image mosaicking and visual odometry

NASA Astrophysics Data System (ADS)

Sadjadi, Firooz; Tangirala, Sekhar; Sorber, Scott

2017-05-01

This paper summarizes the results of studies in underwater odometery using a video camera for estimating the velocity of an unmanned underwater vehicle (UUV). Underwater vehicles are usually equipped with sonar and Inertial Measurement Unit (IMU) - an integrated sensor package that combines multiple accelerometers and gyros to produce a three dimensional measurement of both specific force and angular rate with respect to an inertial reference frame for navigation. In this study, we investigate the use of odometry information obtainable from a video camera mounted on a UUV to extract vehicle velocity relative to the ocean floor. A key challenge with this process is the seemingly bland (i.e. featureless) nature of video data obtained underwater which could make conventional approaches to image-based motion estimation difficult. To address this problem, we perform image enhancement, followed by frame to frame image transformation, registration and mosaicking/stitching. With this approach the velocity components associated with the moving sensor (vehicle) are readily obtained from (i) the components of the transform matrix at each frame; (ii) information about the height of the vehicle above the seabed; and (iii) the sensor resolution. Preliminary results are presented.

Laboratory measurements of grain-bedrock interactions using inertial sensors.

NASA Astrophysics Data System (ADS)

Maniatis, Georgios; Hoey, Trevor; Hodge, Rebecca; Valyrakis, Manousos; Drysdale, Tim

2016-04-01

Sediment transport in steep mountain streams is characterized by the movement of coarse particles (diameter c.100 mm) over beds that are not fully sediment-covered. Under such conditions, individual grain dynamics become important for the prediction of sediment movement and subsequently for understanding grain-bedrock interaction. Technological advances in micro-mechanical-electrical systems now provide opportunities to measure individual grain dynamics and impact forces from inside the sediments (grain inertial frame of reference) instead of trying to infer them indirectly from water flow dynamics. We previously presented a new prototype sensor specifically developed for monitoring sediment transport [Maniatis et al. EGU 2014], and have shown how the definition of the physics of the grain using the inertial frame and subsequent derived measurements which have the potential to enhance the prediction of sediment entrainment [Maniatis et al. 2015]. Here we present the latest version of this sensor and we focus on beginning of the cessation of grain motion: the initial interaction with the bed after the translation phase. The sensor is housed in a spherical case, diameter 80mm, and is constructed using solid aluminum (density = 2.7 kg.m-3) after detailed 3D-CAD modelling. A complete Inertial Measurement Unit (a combination of micro- accelerometer, gyroscope and compass) was placed at the center of the mass of the assembly, with measurement ranges of 400g for acceleration, and 1200 rads/sec for angular velocity. In a 0.9m wide laboratory flume, bed slope = 0.02, the entrainment threshold of the sensor was measured, and the water flow was then set to this value. The sensor was then rolled freely from a static cylindrical bar positioned exactly on the surface of the flowing water. As the sensor enters the flow we record a very short period of transport (1-1.5 sec) followed by the impact on the channel bed. The measured Total Kinetic Energy (Joules) includes the translational energy component of transport (defined as a function of 3-dimensional translational velocity) as well as the rotational component (a function of the 3-axis angular velocity measurements from the gyroscope) which is neglected in the majority of contemporary saltation models. The results suggest that, for this grain scale, the magnitude of the impact of mobile grains on the bed is primarily controlled by their inertia. References Maniatis et al. 2014 EGU General assembly http://meetingorganizer.copernicus.org/EGU2014/EGU2014-12829.pdf Maniatis et. al 2015: "CALCULATION OF EXPLICIT PROBABILITY OF ENTRAINMENT BASED ON INERTIAL ACCELERATION MEASUREMENTS" J. Hydraulic Engineering, Under review.

Design of a developmental dual fail operational redundant strapped down inertial measurement unit

NASA Technical Reports Server (NTRS)

Morrell, F. R.; Russell, J. G.

1980-01-01

An experimental redundant strap-down inertial measurement unit (RSDIMU) is being developed at NASA-Langley as a link to satisfy safety and reliability considerations in the integrated avionics concept. The unit consists of four two-degrees-of-freedom (TDOF) tuned-rotor gyros, and four TDOF pendulous accelerometers in a skewed and separable semi-octahedron array. The system will be used to examine failure detection and isolation techniques, redundancy management rules, and optimal threshold levels for various flight configurations. The major characteristics of the RSDIMU hardware and software design, and its use as a research tool are described.

Effect of local magnetic field disturbances on inertial measurement units accuracy.

PubMed

Robert-Lachaine, Xavier; Mecheri, Hakim; Larue, Christian; Plamondon, André

2017-09-01

Inertial measurement units (IMUs), a practical motion analysis technology for field acquisition, have magnetometers to improve segment orientation estimation. However, sensitivity to magnetic disturbances can affect their accuracy. The objective of this study was to determine the joint angles accuracy of IMUs under different timing of magnetic disturbances of various durations and to evaluate a few correction methods. Kinematics from 12 individuals were obtained simultaneously with an Xsens system where an Optotrak cluster acting as the reference system was affixed to each IMU. A handling task was executed under normal laboratory conditions and imposed magnetic disturbances. Joint angle RMSE was used to conduct a three-way repeated measures analysis of variance in order to contrast the following disturbance factors: duration (0, 30, 60, 120 and 240 s), timing (during the disturbance, directly after it and a 30-second delay after it) and axis (X, Y and Z). The highest joint angle RMSE was observed on rotations about the Y longitudinal axis and during the longer disturbances. It stayed high directly after a disturbance, but returned close to baseline after a 30-second delay. When magnetic disturbances are experienced, waiting 30 s in a normal condition is recommended as a way to restore the IMUs' initial accuracy. The correction methods performed modestly or poorly in the reduction of joint angle RMSE. Copyright © 2017 Elsevier Ltd. All rights reserved.

Demonstration of Advanced Geophysics and Classification Methods on Munitions Response Sites: Closed Castner Range Fort Bliss, TX

DTIC Science & Technology

2016-04-01

Program ft foot/feet GPS Global Positioning System HE High Explosive ID Identification IDA Institute for Defense Analysis IMU Inertial Measurement Unit ISO...were replaced with two ski-shaped runners, and a new mount above the array was used to hold the Inertial Measurement Unit (IMU) and Trimble R8 Real...to collect a cued data measurement (Figure 9). The instrument’s pitch, roll , and yaw angles automatically were measured by the IMU. These angles and

Inertial measurement unit pre-processors and post-flight STS-1 comparisons

NASA Technical Reports Server (NTRS)

Findlay, J. T.; Mcconnell, J. G.

1981-01-01

The flight results show that the relative tri-redundant Inertial Measurement Unit IMU performance throughout the entire entry flight was within the expected accuracy. Comparisons are presented which show differences in the accumulated sensed velocity changes as measured by the tri-redundant IMUs (in Mean Equator and Equinox of 1950.0), differences in the equivalent inertial Euler angles as measured with respect to the M50 system, and finally, preliminary instrument calibrations determined relative to the ensemble average measurement set. Also, differences in the derived body axes rates and accelerations are presented. Because of the excellent performance of the IMUs during the STS-1 entry, the selection as to which particular IMU would best serve as the dynamic data source for entry reconstruction is arbitrary.

Modeling moving systems with RELAP5-3D

DOE PAGES

Mesina, G. L.; Aumiller, David L.; Buschman, Francis X.; ...

2015-12-04

RELAP5-3D is typically used to model stationary, land-based reactors. However, it can also model reactors in other inertial and accelerating frames of reference. By changing the magnitude of the gravitational vector through user input, RELAP5-3D can model reactors on a space station or the moon. The field equations have also been modified to model reactors in a non-inertial frame, such as occur in land-based reactors during earthquakes or onboard spacecraft. Transient body forces affect fluid flow in thermal-fluid machinery aboard accelerating crafts during rotational and translational accelerations. It is useful to express the equations of fluid motion in the acceleratingmore » frame of reference attached to the moving craft. However, careful treatment of the rotational and translational kinematics is required to accurately capture the physics of the fluid motion. Correlations for flow at angles between horizontal and vertical are generated via interpolation where no experimental studies or data exist. The equations for three-dimensional fluid motion in a non-inertial frame of reference are developed. As a result, two different systems for describing rotational motion are presented, user input is discussed, and an example is given.« less

Systematic Calibration for Ultra-High Accuracy Inertial Measurement Units.

PubMed

Cai, Qingzhong; Yang, Gongliu; Song, Ningfang; Liu, Yiliang

2016-06-22

An inertial navigation system (INS) has been widely used in challenging GPS environments. With the rapid development of modern physics, an atomic gyroscope will come into use in the near future with a predicted accuracy of 5 × 10(-6)°/h or better. However, existing calibration methods and devices can not satisfy the accuracy requirements of future ultra-high accuracy inertial sensors. In this paper, an improved calibration model is established by introducing gyro g-sensitivity errors, accelerometer cross-coupling errors and lever arm errors. A systematic calibration method is proposed based on a 51-state Kalman filter and smoother. Simulation results show that the proposed calibration method can realize the estimation of all the parameters using a common dual-axis turntable. Laboratory and sailing tests prove that the position accuracy in a five-day inertial navigation can be improved about 8% by the proposed calibration method. The accuracy can be improved at least 20% when the position accuracy of the atomic gyro INS can reach a level of 0.1 nautical miles/5 d. Compared with the existing calibration methods, the proposed method, with more error sources and high order small error parameters calibrated for ultra-high accuracy inertial measurement units (IMUs) using common turntables, has a great application potential in future atomic gyro INSs.

A compact, large-range interferometer for precision measurement and inertial sensing

NASA Astrophysics Data System (ADS)

Cooper, S. J.; Collins, C. J.; Green, A. C.; Hoyland, D.; Speake, C. C.; Freise, A.; Mow-Lowry, C. M.

2018-05-01

We present a compact, fibre-coupled interferometer with high sensitivity and a large working range. We propose to use this interferometer as a readout mechanism for future inertial sensors, removing a major limiting noise source, and in precision positioning systems. The interferometer’s peak sensitivity is 2 × 10-{14} m \\sqrt{Hz-1} at 70 Hz and 7 × 10-{11} m \\sqrt{Hz-1} at 10 mHz. If deployed on a GS-13 geophone, the resulting inertial sensing output will be limited by the suspension thermal noise of the reference mass from 10 mHz to 2 Hz.

An optimized Kalman filter for the estimate of trunk orientation from inertial sensors data during treadmill walking.

PubMed

Mazzà, Claudia; Donati, Marco; McCamley, John; Picerno, Pietro; Cappozzo, Aurelio

2012-01-01

The aim of this study was the fine tuning of a Kalman filter with the intent to provide optimal estimates of lower trunk orientation in the frontal and sagittal planes during treadmill walking at different speeds using measured linear acceleration and angular velocity components represented in a local system of reference. Data were simultaneously collected using both an inertial measurement unit (IMU) and a stereophotogrammetric system from three healthy subjects walking on a treadmill at natural, slow and fast speeds. These data were used to estimate the parameters of the Kalman filter that minimized the difference between the trunk orientations provided by the filter and those obtained through stereophotogrammetry. The optimized parameters were then used to process the data collected from a further 15 healthy subjects of both genders and different anthropometry performing the same walking tasks with the aim of determining the robustness of the filter set up. The filter proved to be very robust. The root mean square values of the differences between the angles estimated through the IMU and through stereophotogrammetry were lower than 1.0° and the correlation coefficients between the corresponding curves were greater than 0.91. The proposed filter design can be used to reliably estimate trunk lateral and frontal bending during walking from inertial sensor data. Further studies are needed to determine the filter parameters that are most suitable for other motor tasks. Copyright © 2011. Published by Elsevier B.V.

Anatomical calibration for wearable motion capture systems: Video calibrated anatomical system technique.

PubMed

Bisi, Maria Cristina; Stagni, Rita; Caroselli, Alessio; Cappello, Angelo

2015-08-01

Inertial sensors are becoming widely used for the assessment of human movement in both clinical and research applications, thanks to their usability out of the laboratory. This work aims to propose a method for calibrating anatomical landmark position in the wearable sensor reference frame with an ease to use, portable and low cost device. An off-the-shelf camera, a stick and a pattern, attached to the inertial sensor, compose the device. The proposed technique is referred to as video Calibrated Anatomical System Technique (vCAST). The absolute orientation of a synthetic femur was tracked both using the vCAST together with an inertial sensor and using stereo-photogrammetry as reference. Anatomical landmark calibration showed mean absolute error of 0.6±0.5 mm: these errors are smaller than those affecting the in-vivo identification of anatomical landmarks. The roll, pitch and yaw anatomical frame orientations showed root mean square errors close to the accuracy limit of the wearable sensor used (1°), highlighting the reliability of the proposed technique. In conclusion, the present paper proposes and preliminarily verifies the performance of a method (vCAST) for calibrating anatomical landmark position in the wearable sensor reference frame: the technique is low time consuming, highly portable, easy to implement and usable outside laboratory. Copyright © 2015 IPEM. Published by Elsevier Ltd. All rights reserved.

A Dynamic Precision Evaluation Method for the Star Sensor in the Stellar-Inertial Navigation System.

PubMed

Lu, Jiazhen; Lei, Chaohua; Yang, Yanqiang

2017-06-28

Integrating the advantages of INS (inertial navigation system) and the star sensor, the stellar-inertial navigation system has been used for a wide variety of applications. The star sensor is a high-precision attitude measurement instrument; therefore, determining how to validate its accuracy is critical in guaranteeing its practical precision. The dynamic precision evaluation of the star sensor is more difficult than a static precision evaluation because of dynamic reference values and other impacts. This paper proposes a dynamic precision verification method of star sensor with the aid of inertial navigation device to realize real-time attitude accuracy measurement. Based on the gold-standard reference generated by the star simulator, the altitude and azimuth angle errors of the star sensor are calculated for evaluation criteria. With the goal of diminishing the impacts of factors such as the sensors' drift and devices, the innovative aspect of this method is to employ static accuracy for comparison. If the dynamic results are as good as the static results, which have accuracy comparable to the single star sensor's precision, the practical precision of the star sensor is sufficiently high to meet the requirements of the system specification. The experiments demonstrate the feasibility and effectiveness of the proposed method.

Modification and fixed-point analysis of a Kalman filter for orientation estimation based on 9D inertial measurement unit data.

PubMed

Brückner, Hans-Peter; Spindeldreier, Christian; Blume, Holger

2013-01-01

A common approach for high accuracy sensor fusion based on 9D inertial measurement unit data is Kalman filtering. State of the art floating-point filter algorithms differ in their computational complexity nevertheless, real-time operation on a low-power microcontroller at high sampling rates is not possible. This work presents algorithmic modifications to reduce the computational demands of a two-step minimum order Kalman filter. Furthermore, the required bit-width of a fixed-point filter version is explored. For evaluation real-world data captured using an Xsens MTx inertial sensor is used. Changes in computational latency and orientation estimation accuracy due to the proposed algorithmic modifications and fixed-point number representation are evaluated in detail on a variety of processing platforms enabling on-board processing on wearable sensor platforms.

The reliability analysis of a separated, dual fail operational redundant strapdown IMU. [inertial measurement unit

NASA Technical Reports Server (NTRS)

Motyka, P.

1983-01-01

A methodology for quantitatively analyzing the reliability of redundant avionics systems, in general, and the dual, separated Redundant Strapdown Inertial Measurement Unit (RSDIMU), in particular, is presented. The RSDIMU is described and a candidate failure detection and isolation system presented. A Markov reliability model is employed. The operational states of the system are defined and the single-step state transition diagrams discussed. Graphical results, showing the impact of major system parameters on the reliability of the RSDIMU system, are presented and discussed.

Foot-mounted inertial measurement unit for activity classification.

PubMed

Ghobadi, Mostafa; Esfahani, Ehsan T

2014-01-01

This paper proposes a classification technique for daily base activity recognition for human monitoring during physical therapy in home. The proposed method estimates the foot motion using single inertial measurement unit, then segments the motion into steps classify them by template-matching as walking, stairs up or stairs down steps. The results show a high accuracy of activity recognition. Unlike previous works which are limited to activity recognition, the proposed approach is more qualitative by providing similarity index of any activity to its desired template which can be used to assess subjects improvement.

An Improved Fast Self-Calibration Method for Hybrid Inertial Navigation System under Stationary Condition

PubMed Central

Liu, Bingqi; Wei, Shihui; Su, Guohua; Wang, Jiping; Lu, Jiazhen

2018-01-01

The navigation accuracy of the inertial navigation system (INS) can be greatly improved when the inertial measurement unit (IMU) is effectively calibrated and compensated, such as gyro drifts and accelerometer biases. To reduce the requirement for turntable precision in the classical calibration method, a continuous dynamic self-calibration method based on a three-axis rotating frame for the hybrid inertial navigation system is presented. First, by selecting a suitable IMU frame, the error models of accelerometers and gyros are established. Then, by taking the navigation errors during rolling as the observations, the overall twenty-one error parameters of hybrid inertial navigation system (HINS) are identified based on the calculation of the intermediate parameter. The actual experiment verifies that the method can identify all error parameters of HINS and this method has equivalent accuracy to the classical calibration on a high-precision turntable. In addition, this method is rapid, simple and feasible. PMID:29695041

An Improved Fast Self-Calibration Method for Hybrid Inertial Navigation System under Stationary Condition.

PubMed

Liu, Bingqi; Wei, Shihui; Su, Guohua; Wang, Jiping; Lu, Jiazhen

2018-04-24

The navigation accuracy of the inertial navigation system (INS) can be greatly improved when the inertial measurement unit (IMU) is effectively calibrated and compensated, such as gyro drifts and accelerometer biases. To reduce the requirement for turntable precision in the classical calibration method, a continuous dynamic self-calibration method based on a three-axis rotating frame for the hybrid inertial navigation system is presented. First, by selecting a suitable IMU frame, the error models of accelerometers and gyros are established. Then, by taking the navigation errors during rolling as the observations, the overall twenty-one error parameters of hybrid inertial navigation system (HINS) are identified based on the calculation of the intermediate parameter. The actual experiment verifies that the method can identify all error parameters of HINS and this method has equivalent accuracy to the classical calibration on a high-precision turntable. In addition, this method is rapid, simple and feasible.

Spacecraft attitude calibration/verification baseline study

NASA Technical Reports Server (NTRS)

Chen, L. C.

1981-01-01

A baseline study for a generalized spacecraft attitude calibration/verification system is presented. It can be used to define software specifications for three major functions required by a mission: the pre-launch parameter observability and data collection strategy study; the in-flight sensor calibration; and the post-calibration attitude accuracy verification. Analytical considerations are given for both single-axis and three-axis spacecrafts. The three-axis attitudes considered include the inertial-pointing attitudes, the reference-pointing attitudes, and attitudes undergoing specific maneuvers. The attitude sensors and hardware considered include the Earth horizon sensors, the plane-field Sun sensors, the coarse and fine two-axis digital Sun sensors, the three-axis magnetometers, the fixed-head star trackers, and the inertial reference gyros.

Statistical foundations of liquid-crystal theory

PubMed Central

Seguin, Brian; Fried, Eliot

2013-01-01

We develop a mechanical theory for systems of rod-like particles. Central to our approach is the assumption that the external power expenditure for any subsystem of rods is independent of the underlying frame of reference. This assumption is used to derive the basic balance laws for forces and torques. By considering inertial forces on par with other forces, these laws hold relative to any frame of reference, inertial or noninertial. Finally, we introduce a simple set of constitutive relations to govern the interactions between rods and find restrictions necessary and sufficient for these laws to be consistent with thermodynamics. Our framework provides a foundation for a statistical mechanical derivation of the macroscopic balance laws governing liquid crystals. PMID:23772091

Equivalence principle and quantum mechanics: quantum simulation with entangled photons.

PubMed

Longhi, S

2018-01-15

Einstein's equivalence principle (EP) states the complete physical equivalence of a gravitational field and corresponding inertial field in an accelerated reference frame. However, to what extent the EP remains valid in non-relativistic quantum mechanics is a controversial issue. To avoid violation of the EP, Bargmann's superselection rule forbids a coherent superposition of states with different masses. Here we suggest a quantum simulation of non-relativistic Schrödinger particle dynamics in non-inertial reference frames, which is based on the propagation of polarization-entangled photon pairs in curved and birefringent optical waveguides and Hong-Ou-Mandel quantum interference measurement. The photonic simulator can emulate superposition of mass states, which would lead to violation of the EP.

The inertial attitude augmentation for ambiguity resolution in SF/SE-GNSS attitude determination.

PubMed

Zhu, Jiancheng; Hu, Xiaoping; Zhang, Jingyu; Li, Tao; Wang, Jinling; Wu, Meiping

2014-06-26

The Unaided Single Frequency/Single Epoch Global Navigation Satellite System (SF/SE GNSS) model is the most challenging scenario for ambiguity resolution in the GNSS attitude determination application. To improve the performance of SF/SE-GNSS ambiguity resolution without excessive cost, the Micro-Electro-Mechanical System Inertial Measurement Unit (MEMS-IMU) is a proper choice for the auxiliary sensor that carries out the inertial attitude augmentation. Firstly, based on the SF/SE-GNSS compass model, the Inertial Derived Baseline Vector (IDBV) is defined to connect the MEMS-IMU attitude measurement with the SF/SE-GNSS ambiguity search space, and the mechanism of inertial attitude augmentation is revealed from the perspective of geometry. Then, through the quantitative description of model strength by Ambiguity Dilution of Precision (ADOP), two ADOPs are specified for the unaided SF/SE-GNSS compass model and its inertial attitude augmentation counterparts, respectively, and a sufficient condition is proposed for augmenting the SF/SE-GNSS model strength with inertial attitude measurement. Finally, in the framework of an integer aperture estimator with fixed failure rate, the performance of SF/SE-GNSS ambiguity resolution with inertial attitude augmentation is analyzed when the model strength is varying from strong to weak. The simulation results show that, in the SF/SE-GNSS attitude determination application, MEMS-IMU can satisfy the requirements of ambiguity resolution with inertial attitude augmentation.

The Inertial Attitude Augmentation for Ambiguity Resolution in SF/SE-GNSS Attitude Determination

PubMed Central

Zhu, Jiancheng; Hu, Xiaoping; Zhang, Jingyu; Li, Tao; Wang, Jinling; Wu, Meiping

2014-01-01

The Unaided Single Frequency/Single Epoch Global Navigation Satellite System (SF/SE GNSS) model is the most challenging scenario for ambiguity resolution in the GNSS attitude determination application. To improve the performance of SF/SE-GNSS ambiguity resolution without excessive cost, the Micro-Electro-Mechanical System Inertial Measurement Unit (MEMS-IMU) is a proper choice for the auxiliary sensor that carries out the inertial attitude augmentation. Firstly, based on the SF/SE-GNSS compass model, the Inertial Derived Baseline Vector (IDBV) is defined to connect the MEMS-IMU attitude measurement with the SF/SE-GNSS ambiguity search space, and the mechanism of inertial attitude augmentation is revealed from the perspective of geometry. Then, through the quantitative description of model strength by Ambiguity Dilution of Precision (ADOP), two ADOPs are specified for the unaided SF/SE-GNSS compass model and its inertial attitude augmentation counterparts, respectively, and a sufficient condition is proposed for augmenting the SF/SE-GNSS model strength with inertial attitude measurement. Finally, in the framework of an integer aperture estimator with fixed failure rate, the performance of SF/SE-GNSS ambiguity resolution with inertial attitude augmentation is analyzed when the model strength is varying from strong to weak. The simulation results show that, in the SF/SE-GNSS attitude determination application, MEMS-IMU can satisfy the requirements of ambiguity resolution with inertial attitude augmentation. PMID:24971472

OAO-3 end of mission tests report

NASA Technical Reports Server (NTRS)

Kalil, F.; Kull, F. J.; Mcintosh, R.; Ollendorf, S.; Margolies, D. L.; Gemmell, J.; Tasevoli, C. M.; Polidan, R. S.; Kochevar, H.; Chapman, C.

1981-01-01

Twelve engineering type tests were performed on several subsystems and experiment(s) of the OAO 3 spacecraft near its end of mission. The systems tested include: Princeton experiment package (PEP), fine error system guidance, inertial reference unit, star trackers, heat pipes, thermal control coatings, command and data handling, solar array; batteries, and onboard processor/power boost regulator. Generally, the systems performed well for the 8 1/2 years life of OAO 3, although some degradation was noted in the sensitivity of PEP and in the absorptivity of the skin coatings. Battery life was prolonged during the life of the mission in large part by carefully monitoring the charge-discharge cycle with careful attention not to overcharge.

Estimating Three-Dimensional Orientation of Human Body Parts by Inertial/Magnetic Sensing

PubMed Central

Sabatini, Angelo Maria

2011-01-01

User-worn sensing units composed of inertial and magnetic sensors are becoming increasingly popular in various domains, including biomedical engineering, robotics, virtual reality, where they can also be applied for real-time tracking of the orientation of human body parts in the three-dimensional (3D) space. Although they are a promising choice as wearable sensors under many respects, the inertial and magnetic sensors currently in use offer measuring performance that are critical in order to achieve and maintain accurate 3D-orientation estimates, anytime and anywhere. This paper reviews the main sensor fusion and filtering techniques proposed for accurate inertial/magnetic orientation tracking of human body parts; it also gives useful recipes for their actual implementation. PMID:22319365

Estimating three-dimensional orientation of human body parts by inertial/magnetic sensing.

PubMed

Sabatini, Angelo Maria

2011-01-01

User-worn sensing units composed of inertial and magnetic sensors are becoming increasingly popular in various domains, including biomedical engineering, robotics, virtual reality, where they can also be applied for real-time tracking of the orientation of human body parts in the three-dimensional (3D) space. Although they are a promising choice as wearable sensors under many respects, the inertial and magnetic sensors currently in use offer measuring performance that are critical in order to achieve and maintain accurate 3D-orientation estimates, anytime and anywhere. This paper reviews the main sensor fusion and filtering techniques proposed for accurate inertial/magnetic orientation tracking of human body parts; it also gives useful recipes for their actual implementation.

Self-similarity and scaling transitions during rupture of thin free films of Newtonian fluids

NASA Astrophysics Data System (ADS)

Thete, Sumeet Suresh; Anthony, Christopher; Doshi, Pankaj; Harris, Michael T.; Basaran, Osman A.

2016-09-01

Rupture of thin liquid films is crucial in many industrial applications and nature such as foam stability in oil-gas separation units, coating flows, polymer processing, and tear films in the eye. In some of these situations, a liquid film may have two free surfaces (referred to here as a free film or a sheet) as opposed to a film deposited on a solid substrate that has one free surface. The rupture of such a free film or a sheet of a Newtonian fluid is analyzed under the competing influences of inertia, viscous stress, van der Waals pressure, and capillary pressure by solving a system of spatially one-dimensional evolution equations for film thickness and lateral velocity. The dynamics close to the space-time singularity where the film ruptures is asymptotically self-similar and, therefore, the problem is also analyzed by reducing the transient partial differential evolution equations to a corresponding set of ordinary differential equations in similarity space. For sheets with negligible inertia, it is shown that the dominant balance of forces involves solely viscous and van der Waals forces, with capillary force remaining negligible throughout the thinning process in a viscous regime. On the other hand, for a sheet of an inviscid fluid for which the effect of viscosity is negligible, it is shown that the dominant balance of forces is between inertial, capillary, and van der Waals forces as the film evolves towards rupture in an inertial regime. Real fluids, however, have finite viscosity. Hence, for real fluids, it is further shown that the viscous and the inertial regimes are only transitory and can only describe the initial thinning dynamics of highly viscous and slightly viscous sheets, respectively. Moreover, regardless of the fluid's viscosity, it is shown that for sheets that initially thin in either of these two regimes, their dynamics transition to a late stage or final inertial-viscous regime in which inertial, viscous, and van der Waals forces balance each other while capillary force remains negligible, in accordance with the results of Vaynblat, Lister, and Witelski.

Reliability of Wearable Inertial Measurement Units to Measure Physical Activity in Team Handball.

PubMed

Luteberget, Live S; Holme, Benjamin R; Spencer, Matt

2018-04-01

To assess the reliability and sensitivity of commercially available inertial measurement units to measure physical activity in team handball. Twenty-two handball players were instrumented with 2 inertial measurement units (OptimEye S5; Catapult Sports, Melbourne, Australia) taped together. They participated in either a laboratory assessment (n = 10) consisting of 7 team handball-specific tasks or field assessment (n = 12) conducted in 12 training sessions. Variables, including PlayerLoad™ and inertial movement analysis (IMA) magnitude and counts, were extracted from the manufacturers' software. IMA counts were divided into intensity bands of low (1.5-2.5 m·s -1 ), medium (2.5-3.5 m·s -1 ), high (>3.5 m·s -1 ), medium/high (>2.5 m·s -1 ), and total (>1.5 m·s -1 ). Reliability between devices and sensitivity was established using coefficient of variation (CV) and smallest worthwhile difference (SWD). Laboratory assessment: IMA magnitude showed a good reliability (CV = 3.1%) in well-controlled tasks. CV increased (4.4-6.7%) in more-complex tasks. Field assessment: Total IMA counts (CV = 1.8% and SWD = 2.5%), PlayerLoad (CV = 0.9% and SWD = 2.1%), and their associated variables (CV = 0.4-1.7%) showed a good reliability, well below the SWD. However, the CV of IMA increased when categorized into intensity bands (2.9-5.6%). The reliability of IMA counts was good when data were displayed as total, high, or medium/high counts. A good reliability for PlayerLoad and associated variables was evident. The CV of the previously mentioned variables was well below the SWD, suggesting that OptimEye's inertial measurement unit and its software are sensitive for use in team handball.

Miniature Inertial and Augmentation Sensors for Integrated Inertial/GPS Based Navigation Applications

DTIC Science & Technology

2010-03-01

in this paper. Velocity sensing can be accomplished in the optical domain with laser Doppler radar (i.e. LIDAR ), through RF band or ultrasonic... Doppler radar. Reference [34] discusses an example of a LIDAR based velocimeter, used to furnish landing speed information for spacecraft terminal descent...in military (and commercial) capabilities: the Ring Laser Gyro (since ~1975), Fiber Optic Gyros (since ~1985), and MEMS (since ~1995). RLGs enabled

A bi-articular model for scapular-humeral rhythm reconstruction through data from wearable sensors.

PubMed

Lorussi, Federico; Carbonaro, Nicola; De Rossi, Danilo; Tognetti, Alessandro

2016-04-23

Patient-specific performance assessment of arm movements in daily life activities is fundamental for neurological rehabilitation therapy. In most applications, the shoulder movement is simplified through a socket-ball joint, neglecting the movement of the scapular-thoracic complex. This may lead to significant errors. We propose an innovative bi-articular model of the human shoulder for estimating the position of the hand in relation to the sternum. The model takes into account both the scapular-toracic and gleno-humeral movements and their ratio governed by the scapular-humeral rhythm, fusing the information of inertial and textile-based strain sensors. To feed the reconstruction algorithm based on the bi-articular model, an ad-hoc sensing shirt was developed. The shirt was equipped with two inertial measurement units (IMUs) and an integrated textile strain sensor. We built the bi-articular model starting from the data obtained in two planar movements (arm abduction and flexion in the sagittal plane) and analysing the error between the reference data - measured through an optical reference system - and the socket-ball approximation of the shoulder. The 3D model was developed by extending the behaviour of the kinematic chain revealed in the planar trajectories through a parameter identification that takes into account the body structure of the subject. The bi-articular model was evaluated in five subjects in comparison with the optical reference system. The errors were computed in terms of distance between the reference position of the trochlea (end-effector) and the correspondent model estimation. The introduced method remarkably improved the estimation of the position of the trochlea (and consequently the estimation of the hand position during reaching activities) reducing position errors from 11.5 cm to 1.8 cm. Thanks to the developed bi-articular model, we demonstrated a reliable estimation of the upper arm kinematics with a minimal sensing system suitable for daily life monitoring of recovery.

Dynamical Reference Frame: Current Relevance and Future Prospects

NASA Technical Reports Server (NTRS)

Standish, E. M., Jr

2000-01-01

Planetary and lunar ephemerides are no longer used for the determination of inertial space. Instead, the new fundamental reference frame, the International Celestial Reference Frame (ICRF), is inherently less susceptible to extraneous, non-inertial rotations than a dynamical reference frame determined by the ephemerides would be. Consequently, the ephemerides are now adjusted onto the ICRF, and they are fit to two modern, accurate observational data types: ranging (radar, lunar laser, spacecraft) and Very Long Baseline Interferometry (VLBI) (of spacecraft near planets). The uncertainties remaining in the inner planet ephemerides are on the order of 1 kilometer, both in relative positions between the bodies and in the orientation of the inner system as a whole. The predictive capabilities of the inner planet ephemerides are limited by the uncertainties in the masses of many asteroids. For this reason, future improvements to the ephemerides must await determinations of many asteroid masses. Until then, it will be necessary to constantly update the ephemerides with a continuous supply of observational data.

FPGA platform for MEMS Disc Resonance Gyroscope (DRG) control

NASA Astrophysics Data System (ADS)

Keymeulen, Didier; Peay, Chris; Foor, David; Trung, Tran; Bakhshi, Alireza; Withington, Phil; Yee, Karl; Terrile, Rich

2008-04-01

Inertial navigation systems based upon optical gyroscopes tend to be expensive, large, power consumptive, and are not long lived. Micro-Electromechanical Systems (MEMS) based gyros do not have these shortcomings; however, until recently, the performance of MEMS based gyros had been below navigation grade. Boeing and JPL have been cooperating since 1997 to develop high performance MEMS gyroscopes for miniature, low power space Inertial Reference Unit applications. The efforts resulted in demonstration of a Post Resonator Gyroscope (PRG). This experience led to the more compact Disc Resonator Gyroscope (DRG) for further reduced size and power with potentially increased performance. Currently, the mass, volume and power of the DRG are dominated by the size of the electronics. This paper will detail the FPGA based digital electronics architecture and its implementation for the DRG which will allow reduction of size and power and will increase performance through a reduction in electronics noise. Using the digital control based on FPGA, we can program and modify in real-time the control loop to adapt to the specificity of each particular gyro and the change of the mechanical characteristic of the gyro during its life time.

Inertial and GPS data integration for positioning and tracking of GPR

NASA Astrophysics Data System (ADS)

Chicarella, Simone; D'Alvano, Alessandro; Ferrara, Vincenzo; Frezza, Fabrizio; Pajewski, Lara

2015-04-01

Nowadays many applications and studies use a Global Positioning System (GPS) to integrate Ground-Penetrating Radar (GPR) data [1-2]. The aim is the production of detailed detection maps that are geo-referenced and superimposable on geographic maps themes. GPS provides data to determine static positioning, and to track the mobile detection system path on the land. A low-cost standard GPS, like GPS-622R by RF Solutions Ltd, allows accuracy around 2.5 m CEP (Circular Error Probability), and a maximum update rate of 10 Hz. These accuracy and update rate are satisfying values when we evaluate positioning datum, but they are unsuitable for precision tracking of a speedy-mobile GPR system. In order to determine the relative displacements with respect to an initial position on the territory, an Inertial Measurement Unit (IMU) can be used. Some inertial-system applications for GPR tracking have been presented in recent studies [3-4]. The integration of both GPS and IMU systems is the aim of our work, in order to increase GPR applicability, e.g. the case of a GPR mounted on an unmanned aerial vehicle for the detection of people buried under avalanches [5]. In this work, we will present the design, realization and experimental characterization of our electronic board that includes GPS-622R and AltIMU-10 v3 by Pololu. The latter comprises an inertial-measurement unit and an altimeter. In particular, the IMU adopts L3GD20 gyro and LSM303D accelerometer and magnetometer; the digital barometer LPS331AP provides data for altitude evaluation. The prototype of our system for GPR positioning and tracking is based on an Arduino microcontroller board. Acknowledgement This work benefited from networking activities carried out within the EU funded COST Action TU1208 'Civil Engineering Applications of Ground Penetrating Radar. ' References [1] M. Solla, X. Núñez-Nieto, M. Varela-González, J. Martínez-Sánchez, and P. Arias, 'GPR for Road Inspection: georeferencing and efficient approach to data processing and visualization,' Proceedings of 15th IEEE International Conference on Ground Penetrating Radar - GPR 2014, Brussels, Belgium, June 30 - July 4, 2014, pp. 913-918. [2] S. Urbini, L. Vittuari, and S. Gandolfi, 'GPR and GPS data integration: examples of application in Antarctica,' Annali di Geofisica, Vol. 44, No. 4, August 2001, pp. 687-702. [3] V. Prokhorenko, V. Ivashchuk, S. Korsun, and O. Dykovska, 'An Inertial Measurement Unit Application for a GPR Tracking and Positioning,' Proceedings of the 12th International Conference on Ground Penetrating Radar, June 15-19, 2008, Birmingham, UK, pp. 19-24. [4] M. Pasternak, W. Miluski, W. Czarnecki, and J. Pietrasinski, 'An optoelectronic-inertial system for handheld GPR positioning,' Proceedings of the 15th IEEE International Radar Symposium (IRS), Gdansk, Poland, June 16-18, 2014, pp. 1-4. [5] L. Crocco and V. Ferrara, 'A Review on Ground Penetrating Radar Technology for the Detection of Buried or Trapped Victims,' Proceedings of the IEEE 2nd International Workshop on Collaborations in Emergency Response and Disaster Management (ERDM 2014) as part of 2014 International Conference on Collaboration Technologies and Systems (CTS 2014) - Minneapolis (Minnesota, USA), May 19-23, 2014, pp. 535-540.

An integrated autonomous rendezvous and docking system architecture using Centaur modern avionics

NASA Technical Reports Server (NTRS)

Nelson, Kurt

1991-01-01

The avionics system for the Centaur upper stage is in the process of being modernized with the current state-of-the-art in strapdown inertial guidance equipment. This equipment includes an integrated flight control processor with a ring laser gyro based inertial guidance system. This inertial navigation unit (INU) uses two MIL-STD-1750A processors and communicates over the MIL-STD-1553B data bus. Commands are translated into load activation through a Remote Control Unit (RCU) which incorporates the use of solid state relays. Also, a programmable data acquisition system replaces separate multiplexer and signal conditioning units. This modern avionics suite is currently being enhanced through independent research and development programs to provide autonomous rendezvous and docking capability using advanced cruise missile image processing technology and integrated GPS navigational aids. A system concept was developed to combine these technologies in order to achieve a fully autonomous rendezvous, docking, and autoland capability. The current system architecture and the evolution of this architecture using advanced modular avionics concepts being pursued for the National Launch System are discussed.

Vision and dual IMU integrated attitude measurement system

NASA Astrophysics Data System (ADS)

Guo, Xiaoting; Sun, Changku; Wang, Peng; Lu, Huang

2018-01-01

To determination relative attitude between two space objects on a rocking base, an integrated system based on vision and dual IMU (inertial determination unit) is built up. The determination system fuses the attitude information of vision with the angular determinations of dual IMU by extended Kalman filter (EKF) to obtain the relative attitude. One IMU (master) is attached to the measured motion object and the other (slave) to the rocking base. As the determination output of inertial sensor is relative to inertial frame, thus angular rate of the master IMU includes not only motion of the measured object relative to inertial frame but also the rocking base relative to inertial frame, where the latter can be seen as redundant harmful movement information for relative attitude determination between the measured object and the rocking base. The slave IMU here assists to remove the motion information of rocking base relative to inertial frame from the master IMU. The proposed integrated attitude determination system is tested on practical experimental platform. And experiment results with superior precision and reliability show the feasibility and effectiveness of the proposed attitude determination system.

Dark matter: a problem in relativistic metrology?

NASA Astrophysics Data System (ADS)

Lusanna, Luca

2017-05-01

Besides the tidal degrees of freedom of Einstein general relativity (GR) (namely the two polarizations of gravitational waves after linearization of the theory) there are the inertial gauge ones connected with the freedom in the choice of the 4-coordinates of the space-time, i.e. in the choice of the notions of time and 3-space (the 3+1 splitting of space-time) and in their use to define a non-inertial frame (the inertial ones being forbidden by the equivalence principle) by means of a set of conventions for the relativistic metrology of the space-time (like the GPS ones near the Earth). The canonical York basis of canonical ADM gravity allows us to identify the Hamiltonian inertial gauge variables in globally hyperbolic asymptotically Minkowskian space-times without super-translations and to define the family of non-harmonic Schwinger time gauges. In these 3+1 splittings of space-time the freedom in the choice of time (the problem of clock synchronization) is described by the inertial gauge variable York time (the trace of the extrinsic curvature of the instantaneous 3-spaces). This inertial gauge freedom and the non-Euclidean nature of the instantaneous 3-spaces required by the equivalence principle need to be incorporated as metrical conventions in a relativistic suitable extension of the existing (essentially Galilean) ICRS celestial reference system. In this paper I make a short review of the existing possibilities to explain the presence of dark matter (or at least of part of it) as a relativistic inertial effect induced by the non- Euclidean nature of the 3-spaces. After a Hamiltonian Post-Minkowskian (HPM) linearization of canonical ADM tetrad gravity with particles, having equal inertial and gravitational masses, as matter, followed by a Post-Newtonian (PN) expansion, we find that the Newtonian equality of inertial and gravitational masses breaks down and that the inertial gauge York time produces an increment of the inertial masses explaining at least part of what is called dark matter in all its astrophysical signatures.

Walking Distance Estimation Using Walking Canes with Inertial Sensors

PubMed Central

Suh, Young Soo

2018-01-01

A walking distance estimation algorithm for cane users is proposed using an inertial sensor unit attached to various positions on the cane. A standard inertial navigation algorithm using an indirect Kalman filter was applied to update the velocity and position of the cane during movement. For quadripod canes, a standard zero-velocity measurement-updating method is proposed. For standard canes, a velocity-updating method based on an inverted pendulum model is proposed. The proposed algorithms were verified by three walking experiments with two different types of canes and different positions of the sensor module. PMID:29342971

Admiralty Inlet Advanced Turbulence Measurements: June 2014

DOE Data Explorer

Kilcher, Levi

2014-06-30

This data is from measurements at Admiralty Head, in Admiralty Inlet (Puget Sound) in June of 2014. The measurements were made using Inertial Motion Unit (IMU) equipped ADVs mounted on Tidal Turbulence Mooring's (TTMs). The TTM positions the ADV head above the seafloor to make mid-depth turbulence measurements. The inertial measurements from the IMU allows for removal of mooring motion in post processing. The mooring motion has been removed from the stream-wise and vertical velocity signals (u, w). The lateral (v) velocity has some 'persistent motion contamination' due to mooring sway. Each ttm was deployed with two ADVs. The 'top' ADV head was positioned 0.5m above the 'bottom' ADV head. The TTMs were placed in 58m of water. The position of the TTMs were: ttm01 : (48.1525, -122.6867) ttm01b : (48.15256666, -122.68678333) ttm02b : (48.152783333, -122.686316666) Deployments TTM01b and TTM02b occurred simultaneously and were spaced approximately 50m apart in the cross-stream direction. Units ----- - Velocity data (_u, urot, uacc) is in m/s. - Acceleration (Accel) data is in m/s^2. - Angular rate (AngRt) data is in rad/s. - The components of all vectors are in 'ENU' orientation. That is, the first index is True East, the second is True North, and the third is Up (vertical). - All other quantities are in the units defined in the Nortek Manual. Motion correction and rotation into the ENU earth reference frame was performed using the Python-based open source DOLfYN library (http://lkilcher.github.io/dolfyn/). Details on motion correction can be found there. Additional details on TTM measurements at this site can be found in the included Marine Energy Technology Symposium paper.

Admiralty Inlet Advanced Turbulence Measurements: May 2015

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kilcher, Levi

This data is from measurements at Admiralty Head, in Admiralty Inlet (Puget Sound) in May of 2015. The measurements were made using Inertial Motion Unit (IMU) equipped ADVs mounted on a 'StableMoor' (Manufacturer: DeepWater Buoyancy) buoy and a Tidal Turbulence Mooring (TTM). These platforms position ADV heads above the seafloor to make mid-depth turbulence measurements. The inertial measurements from the IMU allows for removal of mooring motion in post processing. The mooring and buoy motion has been removed from the stream-wise and vertical velocity signals (u, w). The lateral (v) velocity has some 'persistent motion contamination' due to mooring sway.more » The TTM was deployed with one ADV, it's position was: 48 09.145', -122 41.209' The StableMoor was deployed twice, the first time it was deployed in 'wing-mode' with two ADVs ('Port' and 'Star') at: 48 09.166', -122 41.173' The second StableMoor deployment was in 'Nose' mode with one ADV at: 48 09.166', -122 41.174' Units ----- - Velocity data (_u, urot, uacc) is in m/s. - Acceleration (Accel) data is in m/s^2. - Angular rate (AngRt) data is in rad/s. - The components of all vectors are in 'ENU' orientation. That is, the first index is True East, the second is True North, and the third is Up (vertical). - All other quantities are in the units defined in the Nortek Manual. Motion correction and rotation into the ENU earth reference frame was performed using the Python-based open source DOLfYN library (http://lkilcher.github.io/dolfyn/). Details on motion correction can be found there. Additional details on TTM measurements at this site can be found in the included Marine Energy Technology Symposium paper.« less

Precision electronic speed controller for an alternating-current

DOEpatents

Bolie, Victor W.

1988-01-01

A high precision controller for an alternating-current multi-phase electrical motor that is subject to a large inertial load. The controller was developed for and is particularly suitable for controlling, in a neutron chopper system, a heavy spinning rotor that must be rotated in phase-locked synchronism with a reference pulse train that is representative of an ac power supply signal having a meandering line frequency. The controller includes a shaft revolution sensor which provides a feedback pulse train representative of the actual speed of the motor. An internal digital timing signal generator provides a reference signal which is compared with the feedback signal in a computing unit to provide a motor control signal. In the preferred embodiment, the motor control signal is a weighted linear sum of a speed error voltage, a phase error voltage, and a drift error voltage, each of which is computed anew with each revolution of the motor shaft. The stator windings of the motor are driven by two amplifiers which are provided with input signals having the proper quadrature relationship by an exciter unit consisting of a voltage controlled oscillator, a binary counter, a pair of readonly memories, and a pair of digital-to-analog converters.

Improved guidance hardware study for the scout launch vehicle

NASA Technical Reports Server (NTRS)

Schappell, R. T.; Salis, M. L.; Mueller, R.; Best, L. E.; Bradt, A. J.; Harrison, R.; Burrell, J. H.

1972-01-01

A market survey and evaluation of inertial guidance systems (inertial measurement units and digital computers) were made. Comparisons were made to determine the candidate systems for use in the Scout launch vehicle. Error analyses were made using typical Scout trajectories. A reaction control system was sized for the fourth stage. The guidance hardware to Scout vehicle interface was listed.

Statistical foundations of liquid-crystal theory: I. Discrete systems of rod-like molecules.

PubMed

Seguin, Brian; Fried, Eliot

2012-12-01

We develop a mechanical theory for systems of rod-like particles. Central to our approach is the assumption that the external power expenditure for any subsystem of rods is independent of the underlying frame of reference. This assumption is used to derive the basic balance laws for forces and torques. By considering inertial forces on par with other forces, these laws hold relative to any frame of reference, inertial or noninertial. Finally, we introduce a simple set of constitutive relations to govern the interactions between rods and find restrictions necessary and sufficient for these laws to be consistent with thermodynamics. Our framework provides a foundation for a statistical mechanical derivation of the macroscopic balance laws governing liquid crystals.

Stable Adaptive Inertial Control of a Doubly-Fed Induction Generator

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kang, Moses; Muljadi, Eduard; Hur, Kyeon

2016-11-01

This paper proposes a stable adaptive inertial control scheme of a doubly-fed induction generator. The proposed power reference is defined in two sections: the deceleration period and the acceleration period. The power reference in the deceleration period consists of a constant and the reference for maximum power point tracking (MPPT) operation. The latter contributes to preventing a second frequency dip (SFD) in this period because its reduction rate is large at the early stage of an event but quickly decreases with time. To improve the frequency nadir (FN), the constant value is set to be proportional to the rotor speedmore » prior to an event. The reference ensures that the rotor speed converges to a stable operating region. To accelerate the rotor speed while causing a small SFD, when the rotor speed converges, the power reference is reduced by a small amount and maintained until it meets the MPPT reference. The results show that the scheme causes a small SFD while improving the FN and the rate of change of frequency in any wind conditions, even in a grid that has a high penetration of wind power.« less

A New Determination of Planetary Precession

NASA Astrophysics Data System (ADS)

Harada, Wataru; Fukushima, Toshio

2004-01-01

By using a nonlinear method of harmonic analysis, we have analyzed the motion of two angles, Ω and ɛ, specifying the direction of the Newtonian heliocentric orbital angular momentum of the Earth-Moon barycenter in the latest lunar and planetary ephemeris, DE405, from 1629 to 2169. Here Ω is the longitude of the node of the ecliptic of date with respect to the International Celestial Reference Frame (ICRF) equator, measured from the ICRF x-axis, while ɛ is the obliquity of the ecliptic of date referred to the ICRF equator. After dropping 86 Fourier terms and four mixed secular terms that were detected, we determined their secular variation in the form of quadratic polynomials as ΩDE405=-0.02109+10.54227t+0.48609t2 and ɛDE405=84,381.40578-46.81972t+0.04817t2 , where the units are arcseconds and t is the time since J2000.0 measured in Julian centuries. This is the latest determination of the planetary precession in the inertial sense and referred to the ICRF.

An Improved Method for Dynamic Measurement of Deflections of the Vertical Based on the Maintenance of Attitude Reference

PubMed Central

Dai, Dongkai; Wang, Xingshu; Zhan, Dejun; Huang, Zongsheng

2014-01-01

A new method for dynamic measurement of deflections of the vertical (DOV) is proposed in this paper. The integration of an inertial navigation system (INS) and global navigation satellite system (GNSS) is constructed to measure the body's attitude with respect to the astronomical coordinates. Simultaneously, the attitude with respect to the geodetic coordinates is initially measured by a star sensor under quasi-static condition and then maintained by the laser gyroscope unit (LGU), which is composed of three gyroscopes in the INS, when the vehicle travels along survey lines. Deflections of the vertical are calculated by using the difference between the attitudes with respect to the geodetic coordinates and astronomical coordinates. Moreover, an algorithm for removing the trend error of the vertical deflections is developed with the aid of Earth Gravitational Model 2008 (EGM2008). In comparison with traditional methods, the new method required less accurate GNSS, because the dynamic acceleration calculation is avoided. The errors of inertial sensors are well resolved in the INS/GNSS integration, which is implemented by a Rauch–Tung–Striebel (RTS) smoother. In addition, a single-axis indexed INS is adopted to improve the observability of the system errors and to restrain the inertial sensor errors. The proposed method is validated by Monte Carlo simulations. The results show that deflections of the vertical can achieve a precision of better than 1″ for a single survey line. The proposed method can be applied to a gravimetry system based on a ground vehicle or ship with a speed lower than 25 m/s. PMID:25192311

An improved method for dynamic measurement of deflections of the vertical based on the maintenance of attitude reference.

PubMed

Dai, Dongkai; Wang, Xingshu; Zhan, Dejun; Huang, Zongsheng

2014-09-03

A new method for dynamic measurement of deflections of the vertical (DOV) is proposed in this paper. The integration of an inertial navigation system (INS) and global navigation satellite system (GNSS) is constructed to measure the body's attitude with respect to the astronomical coordinates. Simultaneously, the attitude with respect to the geodetic coordinates is initially measured by a star sensor under quasi-static condition and then maintained by the laser gyroscope unit (LGU), which is composed of three gyroscopes in the INS, when the vehicle travels along survey lines. Deflections of the vertical are calculated by using the difference between the attitudes with respect to the geodetic coordinates and astronomical coordinates. Moreover, an algorithm for removing the trend error of the vertical deflections is developed with the aid of Earth Gravitational Model 2008 (EGM2008). In comparison with traditional methods, the new method required less accurate GNSS, because the dynamic acceleration calculation is avoided. The errors of inertial sensors are well resolved in the INS/GNSS integration, which is implemented by a Rauch-Tung-Striebel (RTS) smoother. In addition, a single-axis indexed INS is adopted to improve the observability of the system errors and to restrain the inertial sensor errors. The proposed method is validated by Monte Carlo simulations. The results show that deflections of the vertical can achieve a precision of better than 1″ for a single survey line. The proposed method can be applied to a gravimetry system based on a ground vehicle or ship with a speed lower than 25 m/s.

PL-VIO: Tightly-Coupled Monocular Visual–Inertial Odometry Using Point and Line Features

PubMed Central

Zhao, Ji; Guo, Yue; He, Wenhao; Yuan, Kui

2018-01-01

To address the problem of estimating camera trajectory and to build a structural three-dimensional (3D) map based on inertial measurements and visual observations, this paper proposes point–line visual–inertial odometry (PL-VIO), a tightly-coupled monocular visual–inertial odometry system exploiting both point and line features. Compared with point features, lines provide significantly more geometrical structure information on the environment. To obtain both computation simplicity and representational compactness of a 3D spatial line, Plücker coordinates and orthonormal representation for the line are employed. To tightly and efficiently fuse the information from inertial measurement units (IMUs) and visual sensors, we optimize the states by minimizing a cost function which combines the pre-integrated IMU error term together with the point and line re-projection error terms in a sliding window optimization framework. The experiments evaluated on public datasets demonstrate that the PL-VIO method that combines point and line features outperforms several state-of-the-art VIO systems which use point features only. PMID:29642648

Failure Detection of a Pseudolite-Based Reference System Using Residual Monitoring

DTIC Science & Technology

2009-03-01

inertial measurements contain white Gaussian noise, wfins and w ! ins. f bins = f b + abias + w f ins (2.3) !bibins = ! b ib + !bias + w ! ins (2.4) A...type of IMU being used and the length of navigation. For a more accurate model the bias can estimated as a drift, shown as abias and !bias. The drift...to be estimated inside a Kalman lter. _abias = abias T + wabias (2.5) where T is the time constant. The strapdown mechanization for raw inertial

The efficiency evaluation of support vibration isolation with mechanic inertial motion converter for vibroactive process equipment

NASA Astrophysics Data System (ADS)

Buryan, Yu. A.; Babichev, D. O.; Silkov, M. V.; Shtripling, L. O.; Kalashnikov, B. A.

2017-08-01

This research refers to the problems of processing equipment protection from vibration influence. The theory issues of vibration isolation for vibroactive objects such as engines, pumps, compressors, fans, piping, etc. are considered. The design of the perspective air spring with the parallel mounted mechanical inertial motion converter is offered. The mathematical model of the suspension, allowing selecting options to reduce the factor of the force transmission to the base in a certain frequency range is obtained.

The Addition of Enhanced Capabilities to NATO GMTIF STANAG 4607 to Support RADARSAT-2 GMTI Data

DTIC Science & Technology

2007-12-01

However, the cost is a loss in the accuracy of the position specification and its dependence on the particular ellipsoid and/or geoid models used in...platform provides these parameters. Table B-3. Reference Coordinate Systems COORDINATE SYSTEM VALUE Unidentified 0 GEI: Geocentric Equatorial...Inertial, also known as True Equator and True Equinox of Date, True of Date (TOD), ECI, or GCI 1 J2000: Geocentric Equatorial Inertial for epoch J2000.0

Analysis of DRIRU bearings and lubricant from solar max repair mission

NASA Technical Reports Server (NTRS)

Uber, J. M.

1985-01-01

The Solar Maximum Repair Mission (SMRM) by the shuttle astronauts in April 1984, returned to Earth the Delta Redundant Inertial Reference Unit 2 (DRIRU 2) from the Solar Maximum satellite. The DRIRU 2 included three gyroscopes. The gyroscope, S/N 094, in position 2 was disassembled by Teledyne Systems personnel of Northridge, California, and the bearings were returned to Goddard Space Flight Center for examination. The Solar Max Satellite was in orbit for 4 years with the bearings running continuously at 6000 rpm. The ball bearings, had sufficient remaining lubrication and had runs successfully for over the last 4 years. As a result of these findings, the bearings should have lasted their predicted life of 5 years with no problems.

KSC-2009-1088

NASA Image and Video Library

2009-01-09

CAPE CANAVERAL, Fla. -- In the Space Station Processing Facility at NASA's Kennedy Space Center in Florida, the ICS Exposed Facility, or ICS-EF, is moved across the floor to the Japanese Experiment Module's Experiment Logistics Module-Exposed Section, or ELM-ES, where it will be installed alongside two other payloads, the SEDA-AP (Space Environment Data Acquisition Equipment-Attached Payload) and MAXI (Monitor of All-sky X-ray Image), already installed. The ICS-EF is composed of several components, including an antenna, pointing mechanism, frequency converters, high-power amplifier and various sensors including the Earth sensor, Sun sensor and inertial reference unit. The ICS-EF is part of space shuttle Endeavour's payload on the STS-127 mission, targeted for launch on May 15. Photo credit: NASA/Jim Grossmann

KSC-2009-1089

NASA Image and Video Library

2009-01-09

CAPE CANAVERAL, Fla. -- In the Space Station Processing Facility at NASA's Kennedy Space Center in Florida, an overhead crane lowers the ICS Exposed Facility, or ICS-EF, onto the Japanese Experiment Module's Experiment Logistics Module-Exposed Section, or ELM-ES, where it will be installed alongside two other payloads, the SEDA-AP (Space Environment Data Acquisition Equipment-Attached Payload) and MAXI (Monitor of All-sky X-ray Image). The ICS-EF is composed of several components, including an antenna, pointing mechanism, frequency converters, high-power amplifier and various sensors including the Earth sensor, Sun sensor and inertial reference unit. The ICS-EF is part of space shuttle Endeavour's payload on the STS-127 mission, targeted for launch on May 15. Photo credit: NASA/Jim Grossmann

Sensors integration for smartphone navigation: performances and future challenges

NASA Astrophysics Data System (ADS)

Aicardi, I.; Dabove, P.; Lingua, A.; Piras, M.

2014-08-01

Nowadays the modern smartphones include several sensors which are usually adopted in geomatic application, as digital camera, GNSS (Global Navigation Satellite System) receivers, inertial platform, RFID and Wi-Fi systems. In this paper the authors would like to testing the performances of internal sensors (Inertial Measurement Unit, IMU) of three modern smartphones (Samsung GalaxyS4, Samsung GalaxyS5 and iPhone4) compared to external mass-market IMU platform in order to verify their accuracy levels, in terms of positioning. Moreover, the Image Based Navigation (IBN) approach is also investigated: this approach can be very useful in hard-urban environment or for indoor positioning, as alternative to GNSS positioning. IBN allows to obtain a sub-metrical accuracy, but a special database of georeferenced images (Image DataBase, IDB) is needed, moreover it is necessary to use dedicated algorithm to resizing the images which are collected by smartphone, in order to share it with the server where is stored the IDB. Moreover, it is necessary to characterize smartphone camera lens in terms of focal length and lens distortions. The authors have developed an innovative method with respect to those available today, which has been tested in a covered area, adopting a special support where all sensors under testing have been installed. Geomatic instrument have been used to define the reference trajectory, with purpose to compare this one, with the path obtained with IBN solution. First results leads to have an horizontal and vertical accuracies better than 60 cm, respect to the reference trajectories. IBN method, sensors, test and result will be described in the paper.

Adaptive Monocular Visual-Inertial SLAM for Real-Time Augmented Reality Applications in Mobile Devices.

PubMed

Piao, Jin-Chun; Kim, Shin-Dug

2017-11-07

Simultaneous localization and mapping (SLAM) is emerging as a prominent issue in computer vision and next-generation core technology for robots, autonomous navigation and augmented reality. In augmented reality applications, fast camera pose estimation and true scale are important. In this paper, we present an adaptive monocular visual-inertial SLAM method for real-time augmented reality applications in mobile devices. First, the SLAM system is implemented based on the visual-inertial odometry method that combines data from a mobile device camera and inertial measurement unit sensor. Second, we present an optical-flow-based fast visual odometry method for real-time camera pose estimation. Finally, an adaptive monocular visual-inertial SLAM is implemented by presenting an adaptive execution module that dynamically selects visual-inertial odometry or optical-flow-based fast visual odometry. Experimental results show that the average translation root-mean-square error of keyframe trajectory is approximately 0.0617 m with the EuRoC dataset. The average tracking time is reduced by 7.8%, 12.9%, and 18.8% when different level-set adaptive policies are applied. Moreover, we conducted experiments with real mobile device sensors, and the results demonstrate the effectiveness of performance improvement using the proposed method.

Frames of Reference in the Classroom

NASA Astrophysics Data System (ADS)

Grossman, Joshua

2012-12-01

The classic film "Frames of Reference"1,2 effectively illustrates concepts involved with inertial and non-inertial reference frames. In it, Donald G. Ivey and Patterson Hume use the cameras perspective to allow the viewer to see motion in reference frames translating with a constant velocity, translating while accelerating, and rotating—all with respect to the Earth frame. The film is a classic for good reason, but today it does have a couple of drawbacks: 1) The film by nature only accommodates passive learning. It does not give students the opportunity to try any of the experiments themselves. 2) The dated style of the 50-year-old film can distract students from the physics content. I present here a simple setup that can recreate many of the movies demonstrations in the classroom. The demonstrations can be used to supplement the movie or in its place, if desired. All of the materials except perhaps the inexpensive web camera should likely be available already in most teaching laboratories. Unlike previously described activities, these experiments do not require travel to another location3 or an involved setup.4,5

The Rim Inertial Measuring System (RIMS). [to measure angular rate and linear acceleration of a moving vehicle

NASA Technical Reports Server (NTRS)

Groom, N. J.

1979-01-01

The rim inertial measuring system (RIMS) is introduced and an approach for extracting angular rate and linear acceleration information from a RIMS unit is presented and discussed. The RIMS consists of one or more small annular momentum control devices (AMCDs), mounted in a strapped down configuration, which are used to measure angular rates and linear accelerations of a moving vehicle. An AMCD consists of a spinning rim, a set of noncontacting magnetic bearings for supporting the rim, and a noncontacting electromagnetic spin motor. The approach for extracting angular rate and linear acceleration information is for a single spacecraft mounted RIMS unit.

The Performance of a Tight Ins/gnss/photogrammetric Integration Scheme for Land Based MMS Applications in Gnss Denied Environments

NASA Astrophysics Data System (ADS)

Chu, Chien-Hsun; Chiang, Kai-Wei

2016-06-01

The early development of mobile mapping system (MMS) was restricted to applications that permitted the determination of the elements of exterior orientation from existing ground control. Mobile mapping refers to a means of collecting geospatial data using mapping sensors that are mounted on a mobile platform. Research works concerning mobile mapping dates back to the late 1980s. This process is mainly driven by the need for highway infrastructure mapping and transportation corridor inventories. In the early nineties, advances in satellite and inertial technology made it possible to think about mobile mapping in a different way. Instead of using ground control points as references for orienting the images in space, the trajectory and attitude of the imager platform could now be determined directly. Cameras, along with navigation and positioning sensors are integrated and mounted on a land vehicle for mapping purposes. Objects of interest can be directly measured and mapped from images that have been georeferenced using navigation and positioning sensors. Direct georeferencing (DG) is the determination of time-variable position and orientation parameters for a mobile digital imager. The most common technologies used for this purpose today are satellite positioning using the Global Navigation Satellite System (GNSS) and inertial navigation using an Inertial Measuring Unit (IMU). Although either technology used along could in principle determine both position and orientation, they are usually integrated in such a way that the IMU is the main orientation sensor, while the GNSS receiver is the main position sensor. However, GNSS signals are obstructed due to limited number of visible satellites in GNSS denied environments such as urban canyon, foliage, tunnel and indoor that cause the GNSS gap or interfered by reflected signals that cause abnormal measurement residuals thus deteriorates the positioning accuracy in GNSS denied environments. This study aims at developing a novel method that uses ground control points to maintain the positioning accuracy of the MMS in GNSS denied environments. At last, this study analyses the performance of proposed method using about 20 check-points through DG process.

Reliability analysis and fault-tolerant system development for a redundant strapdown inertial measurement unit. [inertial platforms

NASA Technical Reports Server (NTRS)

Motyka, P.

1983-01-01

A methodology is developed and applied for quantitatively analyzing the reliability of a dual, fail-operational redundant strapdown inertial measurement unit (RSDIMU). A Markov evaluation model is defined in terms of the operational states of the RSDIMU to predict system reliability. A 27 state model is defined based upon a candidate redundancy management system which can detect and isolate a spectrum of failure magnitudes. The results of parametric studies are presented which show the effect on reliability of the gyro failure rate, both the gyro and accelerometer failure rates together, false alarms, probability of failure detection, probability of failure isolation, and probability of damage effects and mission time. A technique is developed and evaluated for generating dynamic thresholds for detecting and isolating failures of the dual, separated IMU. Special emphasis is given to the detection of multiple, nonconcurrent failures. Digital simulation time histories are presented which show the thresholds obtained and their effectiveness in detecting and isolating sensor failures.

An Investigation of the Inertial Properties of Backpacks Loaded in Various Configurations

DTIC Science & Technology

1982-05-01

and Richard C. Nelson, Ph.D. S. PERFORMING ORGANIZATION NAME AND ADDRESS 10. PROGRAM ELEMENT, PROJECT, TASK AREA & WORK UNIT NUMBERS Biomechanics ...backpacks loads backpack system load carrying military clothing human backpack system military equipment loading configurations inertial properties 2i04...configuration, a 12.00-kg load, consisting of military clothing and equip- ment, was placed in the packs. The locations of the items were manipulated

A Waist-Worn Inertial Measurement Unit for Long-Term Monitoring of Parkinson’s Disease Patients

PubMed Central

Rodríguez-Martín, Daniel; Pérez-López, Carlos; Samà, Albert; Català, Andreu; Moreno Arostegui, Joan Manuel; Cabestany, Joan; Mestre, Berta; Alcaine, Sheila; Prats, Anna; de la Cruz Crespo, María; Bayés, Àngels

2017-01-01

Inertial measurement units (IMUs) are devices used, among other fields, in health applications, since they are light, small and effective. More concretely, IMUs have been demonstrated to be useful in the monitoring of motor symptoms of Parkinson’s disease (PD). In this sense, most of previous works have attempted to assess PD symptoms in controlled environments or short tests. This paper presents the design of an IMU, called 9 × 3, that aims to assess PD symptoms, enabling the possibility to perform a map of patients’ symptoms at their homes during long periods. The device is able to acquire and store raw inertial data for artificial intelligence algorithmic training purposes. Furthermore, the presented IMU enables the real-time execution of the developed and embedded learning models. Results show the great flexibility of the 9 × 3, storing inertial information and algorithm outputs, sending messages to external devices and being able to detect freezing of gait and bradykinetic gait. Results obtained in 12 patients exhibit a sensitivity and specificity over 80%. Additionally, the system enables working 23 days (at waking hours) with a 1200 mAh battery and a sampling rate of 50 Hz, opening up the possibility to be used for other applications like wellbeing and sports. PMID:28398265

On the Design of Attitude-Heading Reference Systems Using the Allan Variance.

PubMed

Hidalgo-Carrió, Javier; Arnold, Sascha; Poulakis, Pantelis

2016-04-01

The Allan variance is a method to characterize stochastic random processes. The technique was originally developed to characterize the stability of atomic clocks and has also been successfully applied to the characterization of inertial sensors. Inertial navigation systems (INS) can provide accurate results in a short time, which tend to rapidly degrade in longer time intervals. During the last decade, the performance of inertial sensors has significantly improved, particularly in terms of signal stability, mechanical robustness, and power consumption. The mass and volume of inertial sensors have also been significantly reduced, offering system-level design and accommodation advantages. This paper presents a complete methodology for the characterization and modeling of inertial sensors using the Allan variance, with direct application to navigation systems. Although the concept of sensor fusion is relatively straightforward, accurate characterization and sensor-information filtering is not a trivial task, yet they are essential for good performance. A complete and reproducible methodology utilizing the Allan variance, including all the intermediate steps, is described. An end-to-end (E2E) process for sensor-error characterization and modeling up to the final integration in the sensor-fusion scheme is explained in detail. The strength of this approach is demonstrated with representative tests on novel, high-grade inertial sensors. Experimental navigation results are presented from two distinct robotic applications: a planetary exploration rover prototype and an autonomous underwater vehicle (AUV).

Development of a vibration isolation prototype system for microgravity space experiments

NASA Technical Reports Server (NTRS)

Logsdon, Kirk A.; Grodsinsky, Carlos M.; Brown, Gerald V.

1990-01-01

The presence of small levels of low-frequency accelerations on the space shuttle orbiters has degraded the microgravity environment for the science community. Growing concern about this microgravity environment has generated interest in systems that can isolate microgravity science experiments from vibrations. This interest has resulted primarily in studies of isolation systems with active methods of compensation. The development of a magnetically suspended, six-degree-of-freedom active vibration isolation prototype system capable of providing the needed compensation to the orbital environment is presented. A design for the magnetic actuators is described, and the control law for the prototype system that gives a nonintrusive inertial isolation response to the system is also described. Relative and inertial sensors are used to provide an inertial reference for isolating the payload.

Precision enhancement of pavement roughness localization with connected vehicles

NASA Astrophysics Data System (ADS)

Bridgelall, R.; Huang, Y.; Zhang, Z.; Deng, F.

2016-02-01

Transportation agencies rely on the accurate localization and reporting of roadway anomalies that could pose serious hazards to the traveling public. However, the cost and technical limitations of present methods prevent their scaling to all roadways. Connected vehicles with on-board accelerometers and conventional geospatial position receivers offer an attractive alternative because of their potential to monitor all roadways in real-time. The conventional global positioning system is ubiquitous and essentially free to use but it produces impractically large position errors. This study evaluated the improvement in precision achievable by augmenting the conventional geo-fence system with a standard speed bump or an existing anomaly at a pre-determined position to establish a reference inertial marker. The speed sensor subsequently generates position tags for the remaining inertial samples by computing their path distances relative to the reference position. The error model and a case study using smartphones to emulate connected vehicles revealed that the precision in localization improves from tens of metres to sub-centimetre levels, and the accuracy of measuring localized roughness more than doubles. The research results demonstrate that transportation agencies will benefit from using the connected vehicle method to achieve precision and accuracy levels that are comparable to existing laser-based inertial profilers.

An objective comparison of commercially-available cavitation meters.

PubMed

Sarno, Daniel; Hodnett, Mark; Wang, Lian; Zeqiri, Bajram

2017-01-01

With a number of cavitation meters on the market which claim to characterise fields in ultrasonic cleaning baths, this paper provides an objective comparison of a selection of these devices and establishes the extent to which their claims are met. The National Physical Laboratory's multi-frequency ultrasonic reference vessel provided the stable 21.06kHz field, above and below the inertial cavitation threshold, as a test bed for the sensor comparison. Measurements from these devices were evaluated in relation to the known acoustic pressure distribution in the cavitating vessel as a means of identifying the mode of operation of the sensors and to examine the particular indicator of cavitation activity which they deliver. Through the comparison with megahertz filtered acoustic signals generated by inertial cavitation, it was determined that the majority of the cavitation meters used in this study responded to acoustic pressure generated by the direct applied acoustic field and therefore tended to overestimate the occurrence of cavitation within the vessel, giving non-zero responses under conditions when there was known to be no inertial cavitation occurring with the reference vessel. This has implications for interpreting the data they provide in user applications. Copyright © 2016. Published by Elsevier B.V.

Centimeter-Level Robust Gnss-Aided Inertial Post-Processing for Mobile Mapping Without Local Reference Stations

NASA Astrophysics Data System (ADS)

Hutton, J. J.; Gopaul, N.; Zhang, X.; Wang, J.; Menon, V.; Rieck, D.; Kipka, A.; Pastor, F.

2016-06-01

For almost two decades mobile mapping systems have done their georeferencing using Global Navigation Satellite Systems (GNSS) to measure position and inertial sensors to measure orientation. In order to achieve cm level position accuracy, a technique referred to as post-processed carrier phase differential GNSS (DGNSS) is used. For this technique to be effective the maximum distance to a single Reference Station should be no more than 20 km, and when using a network of Reference Stations the distance to the nearest station should no more than about 70 km. This need to set up local Reference Stations limits productivity and increases costs, especially when mapping large areas or long linear features such as roads or pipelines. An alternative technique to DGNSS for high-accuracy positioning from GNSS is the so-called Precise Point Positioning or PPP method. In this case instead of differencing the rover observables with the Reference Station observables to cancel out common errors, an advanced model for every aspect of the GNSS error chain is developed and parameterized to within an accuracy of a few cm. The Trimble Centerpoint RTX positioning solution combines the methodology of PPP with advanced ambiguity resolution technology to produce cm level accuracies without the need for local reference stations. It achieves this through a global deployment of highly redundant monitoring stations that are connected through the internet and are used to determine the precise satellite data with maximum accuracy, robustness, continuity and reliability, along with advance algorithms and receiver and antenna calibrations. This paper presents a new post-processed realization of the Trimble Centerpoint RTX technology integrated into the Applanix POSPac MMS GNSS-Aided Inertial software for mobile mapping. Real-world results from over 100 airborne flights evaluated against a DGNSS network reference are presented which show that the post-processed Centerpoint RTX solution agrees with the DGNSS solution to better than 2.9 cm RMSE Horizontal and 5.5 cm RMSE Vertical. Such accuracies are sufficient to meet the requirements for a majority of airborne mapping applications.

INERTIAL INSTRUMENT SYSTEM FOR AERIAL SURVEYING.

USGS Publications Warehouse

Brown, Russell H.; Chapman, William H.; Hanna, William F.; Mongan, Charles E.; Hursh, John W.

1987-01-01

The purpose of this report is to describe an inertial guidance or navigation system that will enable use of relatively light aircraft for efficient data-gathering in geologgy, hydrology, terrain mapping, and gravity-field mapping. The instrument system capitalizes not only on virtual state-of-the-art inertial guidance technology but also on similarly advanced technology for measuring distance with electromagnetic radiating devices. The distance measurement can be made with a transceiver beamed at either a cooperative taget, with a specially designed reflecting surface, or a noncooperative target, such as the Earth's surface. The instrument system features components that use both techniques. Thus, a laser tracker device, which updates the inertial guidance unit or navigator in flight, makes distance measurements to a retroreflector target mounted at a ground-control point; a laser profiler device, beamed vertically downward, makes distance measurements to the Earth's surface along a path that roughly mirrors the aircraft flight path.

Concept of AHRS Algorithm Designed for Platform Independent Imu Attitude Alignment

NASA Astrophysics Data System (ADS)

Tomaszewski, Dariusz; Rapiński, Jacek; Pelc-Mieczkowska, Renata

2017-12-01

Nowadays, along with the advancement of technology one can notice the rapid development of various types of navigation systems. So far the most popular satellite navigation, is now supported by positioning results calculated with use of other measurement system. The method and manner of integration will depend directly on the destination of system being developed. To increase the frequency of readings and improve the operation of outdoor navigation systems, one will support satellite navigation systems (GPS, GLONASS ect.) with inertial navigation. Such method of navigation consists of several steps. The first stage is the determination of initial orientation of inertial measurement unit, called INS alignment. During this process, on the basis of acceleration and the angular velocity readings, values of Euler angles (pitch, roll, yaw) are calculated allowing for unambiguous orientation of the sensor coordinate system relative to external coordinate system. The following study presents the concept of AHRS (Attitude and heading reference system) algorithm, allowing to define the Euler angles.The study were conducted with the use of readings from low-cost MEMS cell phone sensors. Subsequently the results of the study were analyzed to determine the accuracy of featured algorithm. On the basis of performed experiments the legitimacy of developed algorithm was stated.

Rational engineering correlations of diffusional and inertial particle deposition behavior in non-isothermal forced convection environments

NASA Technical Reports Server (NTRS)

Rosner, D. E.; Gokoglu, S. A.; Israel, R.

1982-01-01

A multiparameter correlation approach to the study of particle deposition rates in engineering applications is discussed with reference to two specific examples, one dealing with thermophoretically augmented small particle convective diffusion and the other involving larger particle inertial impaction. The validity of the correlations proposed here is demonstrated through rigorous computations including all relevant phenomena and interactions. Such representations are shown to minimize apparent differences between various geometric, flow, and physicochemical parameters, allowing many apparently different physicochemical situations to be described in a unified way.

Myths, Misconceptions, and Misunderstandings: A Different Spin on Coriolis--Applying Frame of Reference

ERIC Educational Resources Information Center

DiSpezio, Michael A.

2011-01-01

This article addresses misconceptions surrounding the Coriolis force and describes how it should be presented as a function within inertial and noninertial frames of reference. Not only does this demonstrate the nature of science as it strives to best interpret the natural world (and presents alternative explanations), but it offers a rich…

Trade-off study and computer simulation for assessing spacecraft pointing accuracy and stability capabilities

NASA Astrophysics Data System (ADS)

Algrain, Marcelo C.; Powers, Richard M.

1997-05-01

A case study, written in a tutorial manner, is presented where a comprehensive computer simulation is developed to determine the driving factors contributing to spacecraft pointing accuracy and stability. Models for major system components are described. Among them are spacecraft bus, attitude controller, reaction wheel assembly, star-tracker unit, inertial reference unit, and gyro drift estimators (Kalman filter). The predicted spacecraft performance is analyzed for a variety of input commands and system disturbances. The primary deterministic inputs are the desired attitude angles and rate set points. The stochastic inputs include random torque disturbances acting on the spacecraft, random gyro bias noise, gyro random walk, and star-tracker noise. These inputs are varied over a wide range to determine their effects on pointing accuracy and stability. The results are presented in the form of trade- off curves designed to facilitate the proper selection of subsystems so that overall spacecraft pointing accuracy and stability requirements are met.

Monitoring of wind turbines

DOEpatents

White, Jonathan R.; Adams, Douglas E.; Paquette, Josh

2017-07-25

Method and apparatus for determining the deflection or curvature of a rotating blade, such as a wind turbine blade or a helicopter blade. Also, methods and apparatus for establishing an inertial reference system on a rotating blade.

Frequency analysis of a two-stage planetary gearbox using two different methodologies

NASA Astrophysics Data System (ADS)

Feki, Nabih; Karray, Maha; Khabou, Mohamed Tawfik; Chaari, Fakher; Haddar, Mohamed

2017-12-01

This paper is focused on the characterization of the frequency content of vibration signals issued from a two-stage planetary gearbox. To achieve this goal, two different methodologies are adopted: the lumped-parameter modeling approach and the phenomenological modeling approach. The two methodologies aim to describe the complex vibrations generated by a two-stage planetary gearbox. The phenomenological model describes directly the vibrations as measured by a sensor fixed outside the fixed ring gear with respect to an inertial reference frame, while results from a lumped-parameter model are referenced with respect to a rotating frame and then transferred into an inertial reference frame. Two different case studies of the two-stage planetary gear are adopted to describe the vibration and the corresponding spectra using both models. Each case presents a specific geometry and a specific spectral structure.

Electric fields and field-aligned currents in polar regions of the solar corona: 3-D MHD consideration

NASA Technical Reports Server (NTRS)

Pisanko, Yu. V.

1995-01-01

The calculation of the solar rotation electro-dynamical effects in the near-the-Sun solar wind seems more convenient from the non-inertial corotating reference frame. This implies some modification of the 3-D MHD equations generally on the base of the General Theory of Relativity. The paper deals with the search of stationary (in corotating non-inertial reference frame) solutions of the modified 3-D MHD equations for the in near-the-Sun high latitude sub-alfvenic solar wind. The solution is obtained requiring electric fields and field-aligned electric currents in the high latitude near-the-Sun solar wind. Various scenario are explored self-consistently via a number of numerical experiments. The analogy with the high latitude Earth's magnetosphere is used for the interpretation of the results. Possible observational manifestations are discussed.

Ambulatory estimation of foot placement during walking using inertial sensors.

PubMed

Martin Schepers, H; van Asseldonk, Edwin H F; Baten, Chris T M; Veltink, Peter H

2010-12-01

This study proposes a method to assess foot placement during walking using an ambulatory measurement system consisting of orthopaedic sandals equipped with force/moment sensors and inertial sensors (accelerometers and gyroscopes). Two parameters, lateral foot placement (LFP) and stride length (SL), were estimated for each foot separately during walking with eyes open (EO), and with eyes closed (EC) to analyze if the ambulatory system was able to discriminate between different walking conditions. For validation, the ambulatory measurement system was compared to a reference optical position measurement system (Optotrak). LFP and SL were obtained by integration of inertial sensor signals. To reduce the drift caused by integration, LFP and SL were defined with respect to an average walking path using a predefined number of strides. By varying this number of strides, it was shown that LFP and SL could be best estimated using three consecutive strides. LFP and SL estimated from the instrumented shoe signals and with the reference system showed good correspondence as indicated by the RMS difference between both measurement systems being 6.5 ± 1.0 mm (mean ± standard deviation) for LFP, and 34.1 ± 2.7 mm for SL. Additionally, a statistical analysis revealed that the ambulatory system was able to discriminate between the EO and EC condition, like the reference system. It is concluded that the ambulatory measurement system was able to reliably estimate foot placement during walking. Copyright © 2010 Elsevier Ltd. All rights reserved.

Adaptive Monocular Visual–Inertial SLAM for Real-Time Augmented Reality Applications in Mobile Devices

PubMed Central

Piao, Jin-Chun; Kim, Shin-Dug

2017-01-01

Simultaneous localization and mapping (SLAM) is emerging as a prominent issue in computer vision and next-generation core technology for robots, autonomous navigation and augmented reality. In augmented reality applications, fast camera pose estimation and true scale are important. In this paper, we present an adaptive monocular visual–inertial SLAM method for real-time augmented reality applications in mobile devices. First, the SLAM system is implemented based on the visual–inertial odometry method that combines data from a mobile device camera and inertial measurement unit sensor. Second, we present an optical-flow-based fast visual odometry method for real-time camera pose estimation. Finally, an adaptive monocular visual–inertial SLAM is implemented by presenting an adaptive execution module that dynamically selects visual–inertial odometry or optical-flow-based fast visual odometry. Experimental results show that the average translation root-mean-square error of keyframe trajectory is approximately 0.0617 m with the EuRoC dataset. The average tracking time is reduced by 7.8%, 12.9%, and 18.8% when different level-set adaptive policies are applied. Moreover, we conducted experiments with real mobile device sensors, and the results demonstrate the effectiveness of performance improvement using the proposed method. PMID:29112143

A Rigorous Temperature-Dependent Stochastic Modelling and Testing for MEMS-Based Inertial Sensor Errors.

PubMed

El-Diasty, Mohammed; Pagiatakis, Spiros

2009-01-01

In this paper, we examine the effect of changing the temperature points on MEMS-based inertial sensor random error. We collect static data under different temperature points using a MEMS-based inertial sensor mounted inside a thermal chamber. Rigorous stochastic models, namely Autoregressive-based Gauss-Markov (AR-based GM) models are developed to describe the random error behaviour. The proposed AR-based GM model is initially applied to short stationary inertial data to develop the stochastic model parameters (correlation times). It is shown that the stochastic model parameters of a MEMS-based inertial unit, namely the ADIS16364, are temperature dependent. In addition, field kinematic test data collected at about 17 °C are used to test the performance of the stochastic models at different temperature points in the filtering stage using Unscented Kalman Filter (UKF). It is shown that the stochastic model developed at 20 °C provides a more accurate inertial navigation solution than the ones obtained from the stochastic models developed at -40 °C, -20 °C, 0 °C, +40 °C, and +60 °C. The temperature dependence of the stochastic model is significant and should be considered at all times to obtain optimal navigation solution for MEMS-based INS/GPS integration.

Adaptive Kalman filter for indoor localization using Bluetooth Low Energy and inertial measurement unit.

PubMed

Yoon, Paul K; Zihajehzadeh, Shaghayegh; Bong-Soo Kang; Park, Edward J

2015-08-01

This paper proposes a novel indoor localization method using the Bluetooth Low Energy (BLE) and an inertial measurement unit (IMU). The multipath and non-line-of-sight errors from low-power wireless localization systems commonly result in outliers, affecting the positioning accuracy. We address this problem by adaptively weighting the estimates from the IMU and BLE in our proposed cascaded Kalman filter (KF). The positioning accuracy is further improved with the Rauch-Tung-Striebel smoother. The performance of the proposed algorithm is compared against that of the standard KF experimentally. The results show that the proposed algorithm can maintain high accuracy for position tracking the sensor in the presence of the outliers.

A Virtual Blind Cane Using a Line Laser-Based Vision System and an Inertial Measurement Unit

PubMed Central

Dang, Quoc Khanh; Chee, Youngjoon; Pham, Duy Duong; Suh, Young Soo

2016-01-01

A virtual blind cane system for indoor application, including a camera, a line laser and an inertial measurement unit (IMU), is proposed in this paper. Working as a blind cane, the proposed system helps a blind person find the type of obstacle and the distance to it. The distance from the user to the obstacle is estimated by extracting the laser coordinate points on the obstacle, as well as tracking the system pointing angle. The paper provides a simple method to classify the obstacle’s type by analyzing the laser intersection histogram. Real experimental results are presented to show the validity and accuracy of the proposed system. PMID:26771618

Calibration of the aerodynamic coefficient identification package measurements from the shuttle entry flights using inertial measurement unit data

NASA Technical Reports Server (NTRS)

Heck, M. L.; Findlay, J. T.; Compton, H. R.

1983-01-01

The Aerodynamic Coefficient Identification Package (ACIP) is an instrument consisting of body mounted linear accelerometers, rate gyros, and angular accelerometers for measuring the Space Shuttle vehicular dynamics. The high rate recorded data are utilized for postflight aerodynamic coefficient extraction studies. Although consistent with pre-mission accuracies specified by the manufacturer, the ACIP data were found to contain detectable levels of systematic error, primarily bias, as well as scale factor, static misalignment, and temperature dependent errors. This paper summarizes the technique whereby the systematic ACIP error sources were detected, identified, and calibrated with the use of recorded dynamic data from the low rate, highly accurate Inertial Measurement Units.

Differential GPS for air transport: Status

NASA Technical Reports Server (NTRS)

Hueschen, Richard M.

1993-01-01

The presentation presents background on what the Global Navigation Satellite System (GNSS) is, desired target dates for initial GNSS capabilities for aircraft operations, and a description of differential GPS (Global Positioning System). The presentation also presents an overview of joint flight tests conducted by LaRC and Honeywell on an integrated differential GPS/inertial reference unit (IRU) navigation system. The overview describes the system tested and the results of the flight tests. The last item presented is an overview of a current grant with Ohio University from LaRC which has the goal of developing a precision DGPS navigation system based on interferometry techniques. The fundamentals of GPS interferometry are presented and its application to determine attitude and heading and precision positioning are shown. The presentation concludes with the current status of the grant.

Automated Attitude Sensor Calibration: Progress and Plans

NASA Technical Reports Server (NTRS)

Sedlak, Joseph; Hashmall, Joseph

2004-01-01

This paper describes ongoing work a NASA/Goddard Space Flight Center to improve the quality of spacecraft attitude sensor calibration and reduce costs by automating parts of the calibration process. The new calibration software can autonomously preview data quality over a given time span, select a subset of the data for processing, perform the requested calibration, and output a report. This level of automation is currently being implemented for two specific applications: inertial reference unit (IRU) calibration and sensor alignment calibration. The IRU calibration utility makes use of a sequential version of the Davenport algorithm. This utility has been successfully tested with simulated and actual flight data. The alignment calibration is still in the early testing stage. Both utilities will be incorporated into the institutional attitude ground support system.

Gyro and accelerometer failure detection and identification in redundant sensor systems

NASA Technical Reports Server (NTRS)

Potter, J. E.; Deckert, J. C.

1972-01-01

Algorithms for failure detection and identification for redundant noncolinear arrays of single degree of freedom gyros and accelerometers are described. These algorithms are optimum in the sense that detection occurs as soon as it is no longer possible to account for the instrument outputs as the outputs of good instruments operating within their noise tolerances, and identification occurs as soon as it is true that only a particular instrument failure could account for the actual instrument outputs within the noise tolerance of good instruments. An estimation algorithm is described which minimizes the maximum possible estimation error magnitude for the given set of instrument outputs. Monte Carlo simulation results are presented for the application of the algorithms to an inertial reference unit consisting of six gyros and six accelerometers in two alternate configurations.

Effect of eye position during human visual-vestibular integration of heading perception.

PubMed

Crane, Benjamin T

2017-09-01

Visual and inertial stimuli provide heading discrimination cues. Integration of these multisensory stimuli has been demonstrated to depend on their relative reliability. However, the reference frame of visual stimuli is eye centered while inertia is head centered, and it remains unclear how these are reconciled with combined stimuli. Seven human subjects completed a heading discrimination task consisting of a 2-s translation with a peak velocity of 16 cm/s. Eye position was varied between 0° and ±25° left/right. Experiments were done with inertial motion, visual motion, or a combined visual-inertial motion. Visual motion coherence varied between 35% and 100%. Subjects reported whether their perceived heading was left or right of the midline in a forced-choice task. With the inertial stimulus the eye position had an effect such that the point of subjective equality (PSE) shifted 4.6 ± 2.4° in the gaze direction. With the visual stimulus the PSE shift was 10.2 ± 2.2° opposite the gaze direction, consistent with retinotopic coordinates. Thus with eccentric eye positions the perceived inertial and visual headings were offset ~15°. During the visual-inertial conditions the PSE varied consistently with the relative reliability of these stimuli such that at low visual coherence the PSE was similar to that of the inertial stimulus and at high coherence it was closer to the visual stimulus. On average, the inertial stimulus was weighted near Bayesian ideal predictions, but there was significant deviation from ideal in individual subjects. These findings support visual and inertial cue integration occurring in independent coordinate systems. NEW & NOTEWORTHY In multiple cortical areas visual heading is represented in retinotopic coordinates while inertial heading is in body coordinates. It remains unclear whether multisensory integration occurs in a common coordinate system. The experiments address this using a multisensory integration task with eccentric gaze positions making the effect of coordinate systems clear. The results indicate that the coordinate systems remain separate to the perceptual level and that during the multisensory task the perception depends on relative stimulus reliability. Copyright © 2017 the American Physiological Society.

The Extended HANDS Characterization and Analysis of Metric Biases

NASA Astrophysics Data System (ADS)

Kelecy, T.; Knox, R.; Cognion, R.

The Extended High Accuracy Network Determination System (Extended HANDS) consists of a network of low cost, high accuracy optical telescopes designed to support space surveillance and development of space object characterization technologies. Comprising off-the-shelf components, the telescopes are designed to provide sub arc-second astrometric accuracy. The design and analysis team are in the process of characterizing the system through development of an error allocation tree whose assessment is supported by simulation, data analysis, and calibration tests. The metric calibration process has revealed 1-2 arc-second biases in the right ascension and declination measurements of reference satellite position, and these have been observed to have fairly distinct characteristics that appear to have some dependence on orbit geometry and tracking rates. The work presented here outlines error models developed to aid in development of the system error budget, and examines characteristic errors (biases, time dependence, etc.) that might be present in each of the relevant system elements used in the data collection and processing, including the metric calibration processing. The relevant reference frames are identified, and include the sensor (CCD camera) reference frame, Earth-fixed topocentric frame, topocentric inertial reference frame, and the geocentric inertial reference frame. The errors modeled in each of these reference frames, when mapped into the topocentric inertial measurement frame, reveal how errors might manifest themselves through the calibration process. The error analysis results that are presented use satellite-sensor geometries taken from periods where actual measurements were collected, and reveal how modeled errors manifest themselves over those specific time periods. These results are compared to the real calibration metric data (right ascension and declination residuals), and sources of the bias are hypothesized. In turn, the actual right ascension and declination calibration residuals are also mapped to other relevant reference frames in an attempt to validate the source of the bias errors. These results will serve as the basis for more focused investigation into specific components embedded in the system and system processes that might contain the source of the observed biases.

Hand-Held EMI Sensor Combined with Inertial Positioning for Cued UXO Discrimination - APG Standardized UXO Test Site

DTIC Science & Technology

2013-04-01

Measurement Tracking System (SAINT) with an advanced hand-held, time-domain electromagnetic sensor (TEM-HH) and document classification performance at...rejecting 77% of the clutter. 15. SUBJECT TERMS EMI, electromagnetic induction, UXO classification, UXO, IMU, inertial measurement unit, 16. SECURITY...U c. THIS PAGE U UU 19b. TELEPHONE NUMBER (include area code) 919-677-1560 Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std. Z39.18

Variation in center of mass estimates for extant sauropsids and its importance for reconstructing inertial properties of extinct archosaurs.

PubMed

Allen, Vivian; Paxton, Heather; Hutchinson, John R

2009-09-01

Inertial properties of animal bodies and segments are critical input parameters for biomechanical analysis of standing and moving, and thus are important for paleobiological inquiries into the broader behaviors, ecology and evolution of extinct taxa such as dinosaurs. But how accurately can these be estimated? Computational modeling was used to estimate the inertial properties including mass, density, and center of mass (COM) for extant crocodiles (adult and juvenile Crocodylus johnstoni) and birds (Gallus gallus; junglefowl and broiler chickens), to identify the chief sources of variation and methodological errors, and their significance. High-resolution computed tomography scans were segmented into 3D objects and imported into inertial property estimation software that allowed for the examination of variable body segment densities (e.g., air spaces such as lungs, and deformable body outlines). Considerable biological variation of inertial properties was found within groups due to ontogenetic changes as well as evolutionary changes between chicken groups. COM positions shift in variable directions during ontogeny in different groups. Our method was repeatable and the resolution was sufficient for accurate estimations of mass and density in particular. However, we also found considerable potential methodological errors for COM related to (1) assumed body segment orientation, (2) what frames of reference are used to normalize COM for size-independent comparisons among animals, and (3) assumptions about tail shape. Methods and assumptions are suggested to minimize these errors in the future and thereby improve estimation of inertial properties for extant and extinct animals. In the best cases, 10%-15% errors in these estimates are unavoidable, but particularly for extinct taxa errors closer to 50% should be expected, and therefore, cautiously investigated. Nonetheless in the best cases these methods allow rigorous estimation of inertial properties. (c) 2009 Wiley-Liss, Inc.

The explanation of the twin paradox using Poincare transformation and computer algebra system REDUCE

NASA Astrophysics Data System (ADS)

Hermanto, Arief

2012-06-01

We explain the twin (A and B) paradox using Poincare transformation (as the generalization of Lorentz transformation) in Special Relativity. We want to emphasize the fact that the paradox can really be explained in the context of Special Relativity. The twin A stays at home whereas B makes a round trip. We can still stay in Special Relativity if the non-inertial reference frame of B is in the form of a set of two inertial frames (K1 and K2) moving with different velocities with respect to a fixed inertial reference frame (K0) of A. K1 and K2 are each connected to K0 with Poincare Transformation. We use the CAS (computer algebra system) REDUCE to assist the computation. To make the discussion realistic and simpler we use rational numbers (so that we will get exact computational results) instead of symbols. The important point is that we will show how the fact can be understood by both parties (A and B) by simulating numerically the trip from the points of view of each A and B. A will accept the fact that B is younger and B will also accept the fact that A is older at the reunion. We hope the paradox will thus be explained away satisfactorily.

Kalman Filter for Spinning Spacecraft Attitude Estimation

NASA Technical Reports Server (NTRS)

Markley, F. Landis; Sedlak, Joseph E.

2008-01-01

This paper presents a Kalman filter using a seven-component attitude state vector comprising the angular momentum components in an inertial reference frame, the angular momentum components in the body frame, and a rotation angle. The relatively slow variation of these parameters makes this parameterization advantageous for spinning spacecraft attitude estimation. The filter accounts for the constraint that the magnitude of the angular momentum vector is the same in the inertial and body frames by employing a reduced six-component error state. Four variants of the filter, defined by different choices for the reduced error state, are tested against a quaternion-based filter using simulated data for the THEMIS mission. Three of these variants choose three of the components of the error state to be the infinitesimal attitude error angles, facilitating the computation of measurement sensitivity matrices and causing the usual 3x3 attitude covariance matrix to be a submatrix of the 6x6 covariance of the error state. These variants differ in their choice for the other three components of the error state. The variant employing the infinitesimal attitude error angles and the angular momentum components in an inertial reference frame as the error state shows the best combination of robustness and efficiency in the simulations. Attitude estimation results using THEMIS flight data are also presented.

An Eulerian-Lagrangian description for fluvial coarse sediment transport: theory and verification with low-cost inertial sensors.

NASA Astrophysics Data System (ADS)

Maniatis, Georgios

2017-04-01

Fluvial sediment transport is controlled by hydraulics, sediment properties and arrangement, and flow history across a range of time scales. One reference frame descriptions (Eulerian or Lagrangian) yield useful results but restrict the theoretical understanding of the process as differences between the two phases (liquid and solid) are not explicitly accounted. Recently, affordable Inertial Measurement Units (IMUs) that can be embedded in coarse (100 mm diameter scale) natural or artificial particles became available. These sensors are subjected to technical limitations when deployed for natural sediment transport. However, they give us the ability to measure for the first time the inertial dynamics (acceleration and angular velocity) of moving sediment grains under fluvial transport. Theoretically, the assumption of an ideal (IMU), rigidly attached at the centre of the mass of a sediment particle can simplify greatly the derivation of a general Eulerian-Lagrangian (E-L) model. This approach accounts for inertial characteristics of particles in a Lagrangian (particle fixed) frame, and for the hydrodynamics in an independent Eulerian frame. Simplified versions of the E-L model have been evaluated in laboratory experiments using real-IMUs [Maniatis et. al 2015]. Here, experimental results are presented relevant to the evaluation of the complete E-L model. Artificial particles were deployed in a series of laboratory and field experiments. The particles are equipped with an IMU capable of recording acceleration at ± 400 g and angular velocities at ± 1200 rads/sec ranges. The sampling frequency ranges from 50 to 200 Hz for the total IMU measurement. Two sets of laboratory experiments were conducted in a 0.9m wide laboratory flume. The first is a set of entrainment threshold experiments using two artificial particles: a spherical of D=90mm (A) and an ellipsoid with axes of 100, 70 and 30 mm (B). For the second set of experiments, a spherical artificial enclosure of D=75 mm (C) was released to roll freely in a (> threshold for entrainment) flow and over surfaces of different roughness. Finally, the coarser spherical and elliptical sensor- assemblies (A and B) were deployed in a steep mountain stream during active sediment transport flow conditions. The results include the calculation of the inertial acceleration, the instantaneous particle velocity and the total kinetic energy of the mobile particle (including the rotational component using gyroscope measurements). The comparison of the field deployments with the laboratory experiments suggests that E-L model can be generalised from laboratory to natural conditions. Overall, the inertia of individual coarse particles is a statistically significant effect for all the modes of sediment transport (entrainment, translation, deposition) in both natural and laboratory regimes. Maniatis et. al 2015: "Calculating the Explicit Probability of Entrainment Based on Inertial Acceleration Measurements", J. Hydraulic Engineering, 04016097

Analysis and Compensation of Modulation Angular Rate Error Based on Missile-Borne Rotation Semi-Strapdown Inertial Navigation System.

PubMed

Zhang, Jiayu; Li, Jie; Zhang, Xi; Che, Xiaorui; Huang, Yugang; Feng, Kaiqiang

2018-05-04

The Semi-Strapdown Inertial Navigation System (SSINS) provides a new solution to attitude measurement of a high-speed rotating missile. However, micro-electro-mechanical-systems (MEMS) inertial measurement unit (MIMU) outputs are corrupted by significant sensor errors. In order to improve the navigation precision, a rotation modulation technology method called Rotation Semi-Strapdown Inertial Navigation System (RSSINS) is introduced into SINS. In fact, the stability of the modulation angular rate is difficult to achieve in a high-speed rotation environment. The changing rotary angular rate has an impact on the inertial sensor error self-compensation. In this paper, the influence of modulation angular rate error, including acceleration-deceleration process, and instability of the angular rate on the navigation accuracy of RSSINS is deduced and the error characteristics of the reciprocating rotation scheme are analyzed. A new compensation method is proposed to remove or reduce sensor errors so as to make it possible to maintain high precision autonomous navigation performance by MIMU when there is no external aid. Experiments have been carried out to validate the performance of the method. In addition, the proposed method is applicable for modulation angular rate error compensation under various dynamic conditions.

Vorticity vector-potential method based on time-dependent curvilinear coordinates for two-dimensional rotating flows in closed configurations

NASA Astrophysics Data System (ADS)

Fu, Yuan; Zhang, Da-peng; Xie, Xi-lin

2018-04-01

In this study, a vorticity vector-potential method for two-dimensional viscous incompressible rotating driven flows is developed in the time-dependent curvilinear coordinates. The method is applicable in both inertial and non-inertial frames of reference with the advantage of a fixed and regular calculation domain. The numerical method is applied to triangle and curved triangle configurations in constant and varying rotational angular velocity cases respectively. The evolutions of flow field are studied. The geostrophic effect, unsteady effect and curvature effect on the evolutions are discussed.

Vorticity vector-potential method based on time-dependent curvilinear coordinates for two-dimensional rotating flows in closed configurations

NASA Astrophysics Data System (ADS)

Fu, Yuan; Zhang, Da-peng; Xie, Xi-lin

2018-03-01

In this study, a vorticity vector-potential method for two-dimensional viscous incompressible rotating driven flows is developed in the time-dependent curvilinear coordinates. The method is applicable in both inertial and non-inertial frames of reference with the advantage of a fixed and regular calculation domain. The numerical method is applied to triangle and curved triangle configurations in constant and varying rotational angular velocity cases respectively. The evolutions of flow field are studied. The geostrophic effect, unsteady effect and curvature effect on the evolutions are discussed.

A New Multi-Sensor Fusion Scheme to Improve the Accuracy of Knee Flexion Kinematics for Functional Rehabilitation Movements.

PubMed

Tannous, Halim; Istrate, Dan; Benlarbi-Delai, Aziz; Sarrazin, Julien; Gamet, Didier; Ho Ba Tho, Marie Christine; Dao, Tien Tuan

2016-11-15

Exergames have been proposed as a potential tool to improve the current practice of musculoskeletal rehabilitation. Inertial or optical motion capture sensors are commonly used to track the subject's movements. However, the use of these motion capture tools suffers from the lack of accuracy in estimating joint angles, which could lead to wrong data interpretation. In this study, we proposed a real time quaternion-based fusion scheme, based on the extended Kalman filter, between inertial and visual motion capture sensors, to improve the estimation accuracy of joint angles. The fusion outcome was compared to angles measured using a goniometer. The fusion output shows a better estimation, when compared to inertial measurement units and Kinect outputs. We noted a smaller error (3.96°) compared to the one obtained using inertial sensors (5.04°). The proposed multi-sensor fusion system is therefore accurate enough to be applied, in future works, to our serious game for musculoskeletal rehabilitation.

Relation between the celestial reference system and the terrestrial reference system of a rigid earth

NASA Astrophysics Data System (ADS)

Aoki, Shinko

The equations of motion for a rigid earth under the influence of the sun and moon are solved analytically up to the second-order perturbation, and the results are used to elucidate the relationship between the celestial and terrestrial reference systems. The derivations are given in detail, and consideration is given to celestial-ephemeris and instantaneous-rotation poles, wobble, the departure point as the origin of the local inertial system, the precession-nutation matrix, and techniques for improving the celestial reference system.

Radio/FADS/IMU integrated navigation for Mars entry

NASA Astrophysics Data System (ADS)

Jiang, Xiuqiang; Li, Shuang; Huang, Xiangyu

2018-03-01

Supposing future orbiting and landing collaborative exploration mission as the potential project background, this paper addresses the issue of Mars entry integrated navigation using radio beacon, flush air data sensing system (FADS), and inertial measurement unit (IMU). The range and Doppler information sensed from an orbiting radio beacon, the dynamic pressure and heating data sensed from flush air data sensing system, and acceleration and attitude angular rate outputs from an inertial measurement unit are integrated in an unscented Kalman filter to perform state estimation and suppress the system and measurement noise. Computer simulations show that the proposed integrated navigation scheme can enhance the navigation accuracy, which enables precise entry guidance for the given Mars orbiting and landing collaborative exploration mission.

Comparison of Flight Simulators Based on Human Motion Perception Metrics

NASA Technical Reports Server (NTRS)

Valente Pais, Ana R.; Correia Gracio, Bruno J.; Kelly, Lon C.; Houck, Jacob A.

2015-01-01

In flight simulation, motion filters are used to transform aircraft motion into simulator motion. When looking for the best match between visual and inertial amplitude in a simulator, researchers have found that there is a range of inertial amplitudes, rather than a single inertial value, that is perceived by subjects as optimal. This zone, hereafter referred to as the optimal zone, seems to correlate to the perceptual coherence zones measured in flight simulators. However, no studies were found in which these two zones were compared. This study investigates the relation between the optimal and the coherence zone measurements within and between different simulators. Results show that for the sway axis, the optimal zone lies within the lower part of the coherence zone. In addition, it was found that, whereas the width of the coherence zone depends on the visual amplitude and frequency, the width of the optimal zone remains constant.

Accurate Initial State Estimation in a Monocular Visual–Inertial SLAM System

PubMed Central

Chen, Jing; Zhou, Zixiang; Leng, Zhen; Fan, Lei

2018-01-01

The fusion of monocular visual and inertial cues has become popular in robotics, unmanned vehicles and augmented reality fields. Recent results have shown that optimization-based fusion strategies outperform filtering strategies. Robust state estimation is the core capability for optimization-based visual–inertial Simultaneous Localization and Mapping (SLAM) systems. As a result of the nonlinearity of visual–inertial systems, the performance heavily relies on the accuracy of initial values (visual scale, gravity, velocity and Inertial Measurement Unit (IMU) biases). Therefore, this paper aims to propose a more accurate initial state estimation method. On the basis of the known gravity magnitude, we propose an approach to refine the estimated gravity vector by optimizing the two-dimensional (2D) error state on its tangent space, then estimate the accelerometer bias separately, which is difficult to be distinguished under small rotation. Additionally, we propose an automatic termination criterion to determine when the initialization is successful. Once the initial state estimation converges, the initial estimated values are used to launch the nonlinear tightly coupled visual–inertial SLAM system. We have tested our approaches with the public EuRoC dataset. Experimental results show that the proposed methods can achieve good initial state estimation, the gravity refinement approach is able to efficiently speed up the convergence process of the estimated gravity vector, and the termination criterion performs well. PMID:29419751

Instrument Pointing Capabilities: Past, Present, and Future

NASA Technical Reports Server (NTRS)

Blackmore, Lars; Murray, Emmanuell; Scharf, Daniel P.; Aung, Mimi; Bayard, David; Brugarolas, Paul; Hadaegh, Fred; Lee, Allan; Milman, Mark; Sirlin, Sam;

On the energy integral formulation of gravitational potential differences from satellite-to-satellite tracking

NASA Astrophysics Data System (ADS)

Guo, J. Y.; Shang, K.; Jekeli, C.; Shum, C. K.

2015-04-01

Two approaches have been formulated to compute the gravitational potential difference using low-low satellite-to-satellite tracking data based on energy integral: one in the geocentric inertial reference system, and the other in the terrestrial reference system. The focus of this work is on the approach in the geocentric inertial reference system, where a potential rotation term appears in addition to the potential term. In former formulations, the contribution of the time-variable components of the gravitational potential to the potential term was included, but their contribution to the potential rotation term was neglected. In this work, an improvement to the former formulations is made by reformulating the potential rotation term to include the contribution of the time-variable components of the gravitational potential. A simulation shows that our more accurate formulation of the potential rotation term is necessary to achieve the accuracy for recovering the temporal variation of the Earth's gravity field, such as for use to the Gravity Recovery And Climate Experiment GRACE observation data based on this approach.

On the Energy and Momentum of an Accelerated Charged Particle and the Sources of Radiation

ERIC Educational Resources Information Center

Eriksen, Erik; Gron, Oyvind

2007-01-01

We give a systematic development of the theory of the radiation field of an accelerated charged particle with reference to an inertial reference frame in flat spacetime. Special emphasis is given to the role of the Schott energy and momentum in the energy-momentum balance of the charge and its field. It is shown that the energy of the radiation…

An Inertial and Optical Sensor Fusion Approach for Six Degree-of-Freedom Pose Estimation

PubMed Central

He, Changyu; Kazanzides, Peter; Sen, Hasan Tutkun; Kim, Sungmin; Liu, Yue

2015-01-01

Optical tracking provides relatively high accuracy over a large workspace but requires line-of-sight between the camera and the markers, which may be difficult to maintain in actual applications. In contrast, inertial sensing does not require line-of-sight but is subject to drift, which may cause large cumulative errors, especially during the measurement of position. To handle cases where some or all of the markers are occluded, this paper proposes an inertial and optical sensor fusion approach in which the bias of the inertial sensors is estimated when the optical tracker provides full six degree-of-freedom (6-DOF) pose information. As long as the position of at least one marker can be tracked by the optical system, the 3-DOF position can be combined with the orientation estimated from the inertial measurements to recover the full 6-DOF pose information. When all the markers are occluded, the position tracking relies on the inertial sensors that are bias-corrected by the optical tracking system. Experiments are performed with an augmented reality head-mounted display (ARHMD) that integrates an optical tracking system (OTS) and inertial measurement unit (IMU). Experimental results show that under partial occlusion conditions, the root mean square errors (RMSE) of orientation and position are 0.04° and 0.134 mm, and under total occlusion conditions for 1 s, the orientation and position RMSE are 0.022° and 0.22 mm, respectively. Thus, the proposed sensor fusion approach can provide reliable 6-DOF pose under long-term partial occlusion and short-term total occlusion conditions. PMID:26184191

An Inertial and Optical Sensor Fusion Approach for Six Degree-of-Freedom Pose Estimation.

PubMed

He, Changyu; Kazanzides, Peter; Sen, Hasan Tutkun; Kim, Sungmin; Liu, Yue

2015-07-08

Optical tracking provides relatively high accuracy over a large workspace but requires line-of-sight between the camera and the markers, which may be difficult to maintain in actual applications. In contrast, inertial sensing does not require line-of-sight but is subject to drift, which may cause large cumulative errors, especially during the measurement of position. To handle cases where some or all of the markers are occluded, this paper proposes an inertial and optical sensor fusion approach in which the bias of the inertial sensors is estimated when the optical tracker provides full six degree-of-freedom (6-DOF) pose information. As long as the position of at least one marker can be tracked by the optical system, the 3-DOF position can be combined with the orientation estimated from the inertial measurements to recover the full 6-DOF pose information. When all the markers are occluded, the position tracking relies on the inertial sensors that are bias-corrected by the optical tracking system. Experiments are performed with an augmented reality head-mounted display (ARHMD) that integrates an optical tracking system (OTS) and inertial measurement unit (IMU). Experimental results show that under partial occlusion conditions, the root mean square errors (RMSE) of orientation and position are 0.04° and 0.134 mm, and under total occlusion conditions for 1 s, the orientation and position RMSE are 0.022° and 0.22 mm, respectively. Thus, the proposed sensor fusion approach can provide reliable 6-DOF pose under long-term partial occlusion and short-term total occlusion conditions.

Hand Pose Estimation by Fusion of Inertial and Magnetic Sensing Aided by a Permanent Magnet.

PubMed

Kortier, Henk G; Antonsson, Jacob; Schepers, H Martin; Gustafsson, Fredrik; Veltink, Peter H

2015-09-01

Tracking human body motions using inertial sensors has become a well-accepted method in ambulatory applications since the subject is not confined to a lab-bounded volume. However, a major drawback is the inability to estimate relative body positions over time because inertial sensor information only allows position tracking through strapdown integration, but does not provide any information about relative positions. In addition, strapdown integration inherently results in drift of the estimated position over time. We propose a novel method in which a permanent magnet combined with 3-D magnetometers and 3-D inertial sensors are used to estimate the global trunk orientation and relative pose of the hand with respect to the trunk. An Extended Kalman Filter is presented to fuse estimates obtained from inertial sensors with magnetic updates such that the position and orientation between the human hand and trunk as well as the global trunk orientation can be estimated robustly. This has been demonstrated in multiple experiments in which various hand tasks were performed. The most complex task in which simultaneous movements of both trunk and hand were performed resulted in an average rms position difference with an optical reference system of 19.7±2.2 mm whereas the relative trunk-hand and global trunk orientation error was 2.3±0.9 and 8.6±8.7 deg respectively.

Theory of inertial waves in rotating fluids

NASA Astrophysics Data System (ADS)

Gelash, Andrey; L'vov, Victor; Zakharov, Vladimir

2017-04-01

The inertial waves emerge in the geophysical and astrophysical flows as a result of Earth rotation [1]. The linear theory of inertial waves is known well [2] while the influence of nonlinear effects of wave interactions are subject of many recent theoretical and experimental studies. The three-wave interactions which are allowed by inertial waves dispersion law (frequency is proportional to cosine of the angle between wave direction and axes of rotation) play an exceptional role. The recent studies on similar type of waves - internal waves, have demonstrated the possibility of formation of natural wave attractors in the ocean (see [3] and references herein). This wave focusing leads to the emergence of strong three-wave interactions and subsequent flows mixing. We believe that similar phenomena can take place for inertial waves in rotating flows. In this work we present theoretical study of three-wave and four-wave interactions for inertial waves. As the main theoretical tool we suggest the complete Hamiltonian formalism for inertial waves in rotating incompressible fluids [4]. We study three-wave decay instability and then present statistical description of inertial waves in the frame of Hamiltonian formalism. We obtain kinetic equation, anisotropic wave turbulence spectra and study the problem of parametric wave turbulence. These spectra were previously found in [5] by helicity decomposition method. Taking this into account we discuss the advantages of suggested Hamiltonian formalism and its future applications. Andrey Gelash thanks support of the RFBR (Grant No.16-31-60086 mol_a_dk) and Dr. E. Ermanyuk, Dr. I. Sibgatullin for the fruitful discussions. [1] Le Gal, P. Waves and instabilities in rotating and stratified flows, Fluid Dynamics in Physics, Engineering and Environmental Applications. Springer Berlin Heidelberg, 25-40, 2013. [2] Greenspan, H. P. The theory of rotating fluids. CUP Archive, 1968. [3] Brouzet, C., Sibgatullin, I. N., Scolan, H., Ermanyuk, E. V., & Dauxois, T., Internal wave attractors examined using laboratory experiments and 3D numerical simulations. Journal of Fluid Mechanics, 793, 109-131, 2016. [4] Gelash A. A., L'vov V. S., Zakharov V. E. Dynamics of inertial waves in rotating fluids, arXiv preprint arXiv:1604.07136. - 2016. [5] Galtier S. Weak inertial-wave turbulence theory, Physical Review E 68.1: 015301, 2003.

Flight code validation simulator

NASA Astrophysics Data System (ADS)

Sims, Brent A.

1996-05-01

An End-To-End Simulation capability for software development and validation of missile flight software on the actual embedded computer has been developed utilizing a 486 PC, i860 DSP coprocessor, embedded flight computer and custom dual port memory interface hardware. This system allows real-time interrupt driven embedded flight software development and checkout. The flight software runs in a Sandia Digital Airborne Computer and reads and writes actual hardware sensor locations in which Inertial Measurement Unit data resides. The simulator provides six degree of freedom real-time dynamic simulation, accurate real-time discrete sensor data and acts on commands and discretes from the flight computer. This system was utilized in the development and validation of the successful premier flight of the Digital Miniature Attitude Reference System in January of 1995 at the White Sands Missile Range on a two stage attitude controlled sounding rocket.

Attitude control system conceptual design for the GOES-N spacecraft series

NASA Technical Reports Server (NTRS)

Markley, F. L.; Bauer, F. H.; Deily, J. J.; Femiano, M. D.

1991-01-01

The attitude determination sensing and processing of the system are considered, and inertial reference units, star trackers, and beacons and landmarks are discussed as well as an extended Kalman filter and expected attitude-determination performance. The baseline controller is overviewed, and a spacecraft motion compensation (SMC) algorithm, disturbance environment, and SMC performance expectations are covered. Detailed simulation results are presented, and emphasis is placed on dynamic models, attitude estimation and control, and SMC disturbance accommmodation. It is shown that the attitude control system employing gyro/star tracker sensing and active three-axis control with reaction wheels is capable of maintaining attitude errors of 1.7 microrad or less on all axes in the absence of attitude disturbances, and that the sensor line-of-sight pointing errors can be reduced to 0.1 microrad by SMC.

Spatial reference frames of visual, vestibular, and multimodal heading signals in the dorsal subdivision of the medial superior temporal area.

PubMed

Fetsch, Christopher R; Wang, Sentao; Gu, Yong; Deangelis, Gregory C; Angelaki, Dora E

2007-01-17

Heading perception is a complex task that generally requires the integration of visual and vestibular cues. This sensory integration is complicated by the fact that these two modalities encode motion in distinct spatial reference frames (visual, eye-centered; vestibular, head-centered). Visual and vestibular heading signals converge in the primate dorsal subdivision of the medial superior temporal area (MSTd), a region thought to contribute to heading perception, but the reference frames of these signals remain unknown. We measured the heading tuning of MSTd neurons by presenting optic flow (visual condition), inertial motion (vestibular condition), or a congruent combination of both cues (combined condition). Static eye position was varied from trial to trial to determine the reference frame of tuning (eye-centered, head-centered, or intermediate). We found that tuning for optic flow was predominantly eye-centered, whereas tuning for inertial motion was intermediate but closer to head-centered. Reference frames in the two unimodal conditions were rarely matched in single neurons and uncorrelated across the population. Notably, reference frames in the combined condition varied as a function of the relative strength and spatial congruency of visual and vestibular tuning. This represents the first investigation of spatial reference frames in a naturalistic, multimodal condition in which cues may be integrated to improve perceptual performance. Our results compare favorably with the predictions of a recent neural network model that uses a recurrent architecture to perform optimal cue integration, suggesting that the brain could use a similar computational strategy to integrate sensory signals expressed in distinct frames of reference.

An Auto-Calibrating Knee Flexion-Extension Axis Estimator Using Principal Component Analysis with Inertial Sensors.

PubMed

McGrath, Timothy; Fineman, Richard; Stirling, Leia

2018-06-08

Inertial measurement units (IMUs) have been demonstrated to reliably measure human joint angles—an essential quantity in the study of biomechanics. However, most previous literature proposed IMU-based joint angle measurement systems that required manual alignment or prescribed calibration motions. This paper presents a simple, physically-intuitive method for IMU-based measurement of the knee flexion/extension angle in gait without requiring alignment or discrete calibration, based on computationally-efficient and easy-to-implement Principle Component Analysis (PCA). The method is compared against an optical motion capture knee flexion/extension angle modeled through OpenSim. The method is evaluated using both measured and simulated IMU data in an observational study ( n = 15) with an absolute root-mean-square-error (RMSE) of 9.24∘ and a zero-mean RMSE of 3.49∘. Variation in error across subjects was found, made emergent by the larger subject population than previous literature considers. Finally, the paper presents an explanatory model of RMSE on IMU mounting location. The observational data suggest that RMSE of the method is a function of thigh IMU perturbation and axis estimation quality. However, the effect size for these parameters is small in comparison to potential gains from improved IMU orientation estimations. Results also highlight the need to set relevant datums from which to interpret joint angles for both truth references and estimated data.

Angular motion estimation using dynamic models in a gyro-free inertial measurement unit.

PubMed

Edwan, Ezzaldeen; Knedlik, Stefan; Loffeld, Otmar

2012-01-01

In this paper, we summarize the results of using dynamic models borrowed from tracking theory in describing the time evolution of the state vector to have an estimate of the angular motion in a gyro-free inertial measurement unit (GF-IMU). The GF-IMU is a special type inertial measurement unit (IMU) that uses only a set of accelerometers in inferring the angular motion. Using distributed accelerometers, we get an angular information vector (AIV) composed of angular acceleration and quadratic angular velocity terms. We use a Kalman filter approach to estimate the angular velocity vector since it is not expressed explicitly within the AIV. The bias parameters inherent in the accelerometers measurements' produce a biased AIV and hence the AIV bias parameters are estimated within an augmented state vector. Using dynamic models, the appended bias parameters of the AIV become observable and hence we can have unbiased angular motion estimate. Moreover, a good model is required to extract the maximum amount of information from the observation. Observability analysis is done to determine the conditions for having an observable state space model. For higher grades of accelerometers and under relatively higher sampling frequency, the error of accelerometer measurements is dominated by the noise error. Consequently, simulations are conducted on two models, one has bias parameters appended in the state space model and the other is a reduced model without bias parameters.

Angular Motion Estimation Using Dynamic Models in a Gyro-Free Inertial Measurement Unit

PubMed Central

Edwan, Ezzaldeen; Knedlik, Stefan; Loffeld, Otmar

2012-01-01

In this paper, we summarize the results of using dynamic models borrowed from tracking theory in describing the time evolution of the state vector to have an estimate of the angular motion in a gyro-free inertial measurement unit (GF-IMU). The GF-IMU is a special type inertial measurement unit (IMU) that uses only a set of accelerometers in inferring the angular motion. Using distributed accelerometers, we get an angular information vector (AIV) composed of angular acceleration and quadratic angular velocity terms. We use a Kalman filter approach to estimate the angular velocity vector since it is not expressed explicitly within the AIV. The bias parameters inherent in the accelerometers measurements' produce a biased AIV and hence the AIV bias parameters are estimated within an augmented state vector. Using dynamic models, the appended bias parameters of the AIV become observable and hence we can have unbiased angular motion estimate. Moreover, a good model is required to extract the maximum amount of information from the observation. Observability analysis is done to determine the conditions for having an observable state space model. For higher grades of accelerometers and under relatively higher sampling frequency, the error of accelerometer measurements is dominated by the noise error. Consequently, simulations are conducted on two models, one has bias parameters appended in the state space model and the other is a reduced model without bias parameters. PMID:22778586

Flight results of attitude matching between Space Shuttle and Inertial Upper Stage (IUS) navigation systems

NASA Astrophysics Data System (ADS)

Treder, Alfred J.; Meldahl, Keith L.

The recorded histories of Shuttle/Orbiter attitude and Inertial Upper Stage (IUS) attitude have been analyzed for all joint flights of the IUS in the Orbiter. This database was studied to determine the behavior of relative alignment between the IUS and Shuttle navigation systems. It is found that the overall accuracy of physical alignment has a Shuttle Orbiter bias component less than 5 arcmin/axis and a short-term stability upper bound of 0.5 arcmin/axis, both at 1 sigma. Summaries of the experienced physical and inertial alginment offsets are shown in this paper, together with alignment variation data, illustrated with some flight histories. Also included is a table of candidate values for some error source groups in an Orbiter/IUS attitude errror model. Experience indicates that the Shuttle is much more accurate and stable as an orbiting launch platform than has so far been advertised. This information will be valuable for future Shuttle payloads, especially those (such as the Aeroassisted Flight Experiment) which carry their own inertial navigation systems, and which could update or initialize their attitude determination systems using the Shuttle as the reference.

A three axis turntable's online initial state measurement method based on the high-accuracy laser gyro SINS

NASA Astrophysics Data System (ADS)

Gao, Chunfeng; Wei, Guo; Wang, Qi; Xiong, Zhenyu; Wang, Qun; Long, Xingwu

2016-10-01

As an indispensable equipment in inertial technology tests, the three-axis turntable is widely used in the calibration of various types inertial navigation systems (INS). In order to ensure the calibration accuracy of INS, we need to accurately measure the initial state of the turntable. However, the traditional measuring method needs a lot of exterior equipment (such as level instrument, north seeker, autocollimator, etc.), and the test processing is complex, low efficiency. Therefore, it is relatively difficult for the inertial measurement equipment manufacturers to realize the self-inspection of the turntable. Owing to the high precision attitude information provided by the laser gyro strapdown inertial navigation system (SINS) after fine alignment, we can use it as the attitude reference of initial state measurement of three-axis turntable. For the principle that the fixed rotation vector increment is not affected by measuring point, we use the laser gyro INS and the encoder of the turntable to provide the attitudes of turntable mounting plat. Through this way, the high accuracy measurement of perpendicularity error and initial attitude of the three-axis turntable has been achieved.

Development of components for IFOG-based inertial measurement units using polymer waveguide fabrication technologies

NASA Astrophysics Data System (ADS)

Ashley, P. R.; Temmen, M. G.; Diffey, W. M.; Sanghadasa, M.; Bramson, M. D.

2007-10-01

Active and passive polymer materials have been successfully used in the development of highly accurate, compact and low cost guided-wave components: an optical transceiver and a phase modulator, for inertial measurement units (IMUs) based on the interferometric fibre optic gyroscope (IFOG) technology for precision guidance in navigation systems. High performance and low noise transceivers with high optical power and good spectral quality were fabricated using a silicon-bench architecture. Low loss phase modulators with low halfwave drive voltage (Vπ) have been fabricated with a backscatter compensated design using polarizing waveguides consisting of CLD- and FTC-type high performance electro-optic (E-O) chromophores. Gyro bias stability of less than 0.02° h-1 has been demonstrated with these guided-wave components.

Precision Mechanical Measurement Using the Levitation Mass Method (LMM)

NASA Astrophysics Data System (ADS)

Fujii, Yusaku; Jin, Tao; Maru, Koichi

2010-12-01

The present status and the future prospects of a method for precision mass and force measurement, the levitation mass method (LMM), are reviewed. The LMM has been proposed and improved by the authors. In the LMM, the inertial force of a mass levitated using a pneumatic linear bearing is used as the reference force applied to the objects under test, such as force transducers, materials or structures. The inertial force of the levitated mass is measured using an optical interferometer. The three typical applications of the LMM, i.e. the dynamic force calibration, the micro force material tester and the space scale, are reviewed in this paper.

Sprint mechanics return to competition follow-up after hamstring injury on a professional soccer player: A case study with an inertial sensor unit based methodological approach.

PubMed

Setuain, Igor; Lecumberri, Pablo; Izquierdo, Mikel

2017-10-03

The present research aimed to describe an inertial unit (IU)-based sprint mechanics evaluation model for assessing players' readiness to return to competition after suffering a grade I hamstring injury. A professional male football player (age 19years; height 177cm; weight 70kg, midfielder, Spanish, 3° Division) with a grade 1 biceps femoris injury was evaluated at pre-season, at return to play after injury and at the end of the competitive season. Sprint mechanics were analyzed via the use of an inertial orientation tracker (Xsens Technologies B.V. Enschede, Netherlands) attached over the L3-L4 region of the subject's lumbar spine. Sprint mechanics such as horizontal components of ground reaction force were assessed in both legs during sprinting actions. Findings and interpretation: Both the coefficient of the horizontal force application (SFV) and the ratio of forces (DRF) applied at increasing velocity were decreased in the injured limb compared with the contralateral healthy limb at the return to play evaluation (73% and 76% reductions, respectively) and returned to symmetrical levels at the end-season evaluation. Copyright © 2017 Elsevier Ltd. All rights reserved.

A Wearable Inertial Measurement Unit for Long-Term Monitoring in the Dependency Care Area

PubMed Central

Rodríguez-Martín, Daniel; Pérez-López, Carlos; Samà, Albert; Cabestany, Joan; Català, Andreu

2013-01-01

Human movement analysis is a field of wide interest since it enables the assessment of a large variety of variables related to quality of life. Human movement can be accurately evaluated through Inertial Measurement Units (IMU), which are wearable and comfortable devices with long battery life. The IMU's movement signals might be, on the one hand, stored in a digital support, in which an analysis is performed a posteriori. On the other hand, the signal analysis might take place in the same IMU at the same time as the signal acquisition through online classifiers. The new sensor system presented in this paper is designed for both collecting movement signals and analyzing them in real-time. This system is a flexible platform useful for collecting data via a triaxial accelerometer, a gyroscope and a magnetometer, with the possibility to incorporate other information sources in real-time. A μSD card can store all inertial data and a Bluetooth module is able to send information to other external devices and receive data from other sources. The system presented is being used in the real-time detection and analysis of Parkinson's disease symptoms, in gait analysis, and in a fall detection system. PMID:24145917

A wearable inertial measurement unit for long-term monitoring in the dependency care area.

PubMed

Rodríguez-Martín, Daniel; Pérez-López, Carlos; Samà, Albert; Cabestany, Joan; Català, Andreu

2013-10-18

Human movement analysis is a field of wide interest since it enables the assessment of a large variety of variables related to quality of life. Human movement can be accurately evaluated through Inertial Measurement Units (IMU), which are wearable and comfortable devices with long battery life. The IMU's movement signals might be, on the one hand, stored in a digital support, in which an analysis is performed a posteriori. On the other hand, the signal analysis might take place in the same IMU at the same time as the signal acquisition through online classifiers. The new sensor system presented in this paper is designed for both collecting movement signals and analyzing them in real-time. This system is a flexible platform useful for collecting data via a triaxial accelerometer, a gyroscope and a magnetometer, with the possibility to incorporate other information sources in real-time. A µSD card can store all inertial data and a Bluetooth module is able to send information to other external devices and receive data from other sources. The system presented is being used in the real-time detection and analysis of Parkinson's disease symptoms, in gait analysis, and in a fall detection system.

A new systematic calibration method of ring laser gyroscope inertial navigation system

NASA Astrophysics Data System (ADS)

Wei, Guo; Gao, Chunfeng; Wang, Qi; Wang, Qun; Xiong, Zhenyu; Long, Xingwu

2016-10-01

Inertial navigation system has been the core component of both military and civil navigation systems. Before the INS is put into application, it is supposed to be calibrated in the laboratory in order to compensate repeatability error caused by manufacturing. Discrete calibration method cannot fulfill requirements of high-accurate calibration of the mechanically dithered ring laser gyroscope navigation system with shock absorbers. This paper has analyzed theories of error inspiration and separation in detail and presented a new systematic calibration method for ring laser gyroscope inertial navigation system. Error models and equations of calibrated Inertial Measurement Unit are given. Then proper rotation arrangement orders are depicted in order to establish the linear relationships between the change of velocity errors and calibrated parameter errors. Experiments have been set up to compare the systematic errors calculated by filtering calibration result with those obtained by discrete calibration result. The largest position error and velocity error of filtering calibration result are only 0.18 miles and 0.26m/s compared with 2 miles and 1.46m/s of discrete calibration result. These results have validated the new systematic calibration method and proved its importance for optimal design and accuracy improvement of calibration of mechanically dithered ring laser gyroscope inertial navigation system.

Analysis and Compensation of Modulation Angular Rate Error Based on Missile-Borne Rotation Semi-Strapdown Inertial Navigation System

PubMed Central

Zhang, Jiayu; Li, Jie; Zhang, Xi; Che, Xiaorui; Huang, Yugang; Feng, Kaiqiang

2018-01-01

The Semi-Strapdown Inertial Navigation System (SSINS) provides a new solution to attitude measurement of a high-speed rotating missile. However, micro-electro-mechanical-systems (MEMS) inertial measurement unit (MIMU) outputs are corrupted by significant sensor errors. In order to improve the navigation precision, a rotation modulation technology method called Rotation Semi-Strapdown Inertial Navigation System (RSSINS) is introduced into SINS. In fact, the stability of the modulation angular rate is difficult to achieve in a high-speed rotation environment. The changing rotary angular rate has an impact on the inertial sensor error self-compensation. In this paper, the influence of modulation angular rate error, including acceleration-deceleration process, and instability of the angular rate on the navigation accuracy of RSSINS is deduced and the error characteristics of the reciprocating rotation scheme are analyzed. A new compensation method is proposed to remove or reduce sensor errors so as to make it possible to maintain high precision autonomous navigation performance by MIMU when there is no external aid. Experiments have been carried out to validate the performance of the method. In addition, the proposed method is applicable for modulation angular rate error compensation under various dynamic conditions. PMID:29734707

Lightweight, Miniature Inertial Measurement System

NASA Technical Reports Server (NTRS)

Tang, Liang; Crassidis, Agamemnon

2012-01-01

A miniature, lighter-weight, and highly accurate inertial navigation system (INS) is coupled with GPS receivers to provide stable and highly accurate positioning, attitude, and inertial measurements while being subjected to highly dynamic maneuvers. In contrast to conventional methods that use extensive, groundbased, real-time tracking and control units that are expensive, large, and require excessive amounts of power to operate, this method focuses on the development of an estimator that makes use of a low-cost, miniature accelerometer array fused with traditional measurement systems and GPS. Through the use of a position tracking estimation algorithm, onboard accelerometers are numerically integrated and transformed using attitude information to obtain an estimate of position in the inertial frame. Position and velocity estimates are subject to drift due to accelerometer sensor bias and high vibration over time, and so require the integration with GPS information using a Kalman filter to provide highly accurate and reliable inertial tracking estimations. The method implemented here uses the local gravitational field vector. Upon determining the location of the local gravitational field vector relative to two consecutive sensors, the orientation of the device may then be estimated, and the attitude determined. Improved attitude estimates further enhance the inertial position estimates. The device can be powered either by batteries, or by the power source onboard its target platforms. A DB9 port provides the I/O to external systems, and the device is designed to be mounted in a waterproof case for all-weather conditions.

Line-of-sight pointing accuracy/stability analysis and computer simulation for small spacecraft

NASA Astrophysics Data System (ADS)

Algrain, Marcelo C.; Powers, Richard M.

1996-06-01

This paper presents a case study where a comprehensive computer simulation is developed to determine the driving factors contributing to spacecraft pointing accuracy and stability. The simulation is implemented using XMATH/SystemBuild software from Integrated Systems, Inc. The paper is written in a tutorial manner and models for major system components are described. Among them are spacecraft bus, attitude controller, reaction wheel assembly, star-tracker unit, inertial reference unit, and gyro drift estimators (Kalman filter). THe predicted spacecraft performance is analyzed for a variety of input commands and system disturbances. The primary deterministic inputs are desired attitude angles and rate setpoints. The stochastic inputs include random torque disturbances acting on the spacecraft, random gyro bias noise, gyro random walk, and star-tracker noise. These inputs are varied over a wide range to determine their effects on pointing accuracy and stability. The results are presented in the form of trade-off curves designed to facilitate the proper selection of subsystems so that overall spacecraft pointing accuracy and stability requirements are met.

Strap-Down Inertial Systems

DTIC Science & Technology

1978-05-01

navigation computer (SNC), sepa- rate alterable memory units for the computer, a control /display unit (CDU), a computer control unit (CCU), and a non ...AND SYSTEM Advisory Group for Aerospace Research and Development, Paris (France). Presented at the 15th Meeting of the Guidance and Control Panel of... Group , Redondo Beach, Calif.) American Institute of Aeronautics and Astronautics, Guidance and Control Conference, Key Biscayne, Fla., August 20-22

Testing of the high accuracy inertial navigation system in the Shuttle Avionics Integration Lab

NASA Technical Reports Server (NTRS)

Strachan, Russell L.; Evans, James M.

1991-01-01

The description, results, and interpretation is presented of comparison testing between the High Accuracy Inertial Navigation System (HAINS) and KT-70 Inertial Measurement Unit (IMU). The objective was to show the HAINS can replace the KT-70 IMU in the space shuttle Orbiter, both singularly and totally. This testing was performed in the Guidance, Navigation, and Control Test Station (GTS) of the Shuttle Avionics Integration Lab (SAIL). A variety of differences between the two instruments are explained. Four, 5 day test sessions were conducted varying the number and slot position of the HAINS and KT-70 IMUs. The various steps in the calibration and alignment procedure are explained. Results and their interpretation are presented. The HAINS displayed a high level of performance accuracy previously unseen with the KT-70 IMU. The most significant improvement of the performance came in the Tuned Inertial/Extended Launch Hold tests. The HAINS exceeded the 4 hr specification requirement. The results obtained from the SAIL tests were generally well beyond the requirements of the procurement specification.

CHARACTERIZATION OF LARGE PARTICLES AT A RURAL SITE IN THE EASTERN UNITED STATES: MASS DISTRIBUTION AND INDIVIDUAL PARTICLE ANALYSIS

EPA Science Inventory

A unique combination of an effective sampler and analysis of individual particles has been used in studying large particles (> 5 micrometers) at a rural site in Eastern United States. The sampler is a modified 'high volume' rotary inertial impactor, which consists of four collect...

Spatial and physical frames of reference in positioning a limb.

PubMed

Garrett, S R; Pagano, C; Austin, G; Turvey, M T

1998-10-01

Splints attached to the right forearm were used to rotate the forearm's physical reference frame, as defined by the eigenvectors of its inertia tensor, relative to its spatial reference frame. In two experiments, when subjects were required to orient the forearm parallel to, or at 45 degrees to, the environmental horizontal, they produced limb orientations that were systematically deflected from the forearm's longitudinal spatial axis in the direction of the forearm's physical axes. The position sense seems to be based on inertial eigenvectors rather than on joint angles or gravitational torques.

Attitude Heading Reference System Using MEMS Inertial Sensors with Dual-Axis Rotation

PubMed Central

Kang, Li; Ye, Lingyun; Song, Kaichen; Zhou, Yang

2014-01-01

This paper proposes a low cost and small size attitude and heading reference system based on MEMS inertial sensors. A dual-axis rotation structure with a proper rotary scheme according to the design principles is applied in the system to compensate for the attitude and heading drift caused by the large gyroscope biases. An optimization algorithm is applied to compensate for the installation angle error between the body frame and the rotation table's frame. Simulations and experiments are carried out to evaluate the performance of the AHRS. The results show that the proper rotation could significantly reduce the attitude and heading drifts. Moreover, the new AHRS is not affected by magnetic interference. After the rotation, the attitude and heading are almost just oscillating in a range. The attitude error is about 3° and the heading error is less than 3° which are at least 5 times better than the non-rotation condition. PMID:25268911

Development of position measurement unit for flying inertial fusion energy target

NASA Astrophysics Data System (ADS)

Tsuji, R.; Endo, T.; Yoshida, H.; Norimatsu, T.

2016-03-01

We have reported the present status in the development of a position measurement unit (PMU) for a flying inertial fusion energy (IFE) target. The PMU, which uses Arago spot phenomena, is designed to have a measurement accuracy smaller than 1 μm. By employing divergent, pulsed orthogonal laser beam illumination, we can measure the time and the target position at the pulsed illumination. The two-dimensional Arago spot image is compressed into one-dimensional image by a cylindrical lens for real-time processing. The PMU are set along the injection path of the flying target. The local positions of the target in each PMU are transferred to the controller and analysed to calculate the target trajectory. Two methods are presented to calculate the arrival time and the arrival position of the target at the reactor centre.

Research into Kinect/Inertial Measurement Units Based on Indoor Robots.

PubMed

Li, Huixia; Wen, Xi; Guo, Hang; Yu, Min

2018-03-12

As indoor mobile navigation suffers from low positioning accuracy and accumulation error, we carried out research into an integrated location system for a robot based on Kinect and an Inertial Measurement Unit (IMU). In this paper, the close-range stereo images are used to calculate the attitude information and the translation amount of the adjacent positions of the robot by means of the absolute orientation algorithm, for improving the calculation accuracy of the robot's movement. Relying on the Kinect visual measurement and the strap-down IMU devices, we also use Kalman filtering to obtain the errors of the position and attitude outputs, in order to seek the optimal estimation and correct the errors. Experimental results show that the proposed method is able to improve the positioning accuracy and stability of the indoor mobile robot.

Design of a Wireless Sensor Module for Monitoring Conductor Galloping of Transmission Lines.

PubMed

Huang, Xinbo; Zhao, Long; Chen, Guimin

2016-10-09

Conductor galloping may cause flashovers and even tower collapses. The available conductor galloping monitoring methods often employ acceleration sensors to measure the conductor translations without considering the conductor twist. In this paper, a new sensor for monitoring conductor galloping of transmission lines based on an inertial measurement unit and wireless communication is proposed. An inertial measurement unit is used for collecting the accelerations and angular rates of a conductor, which are further transformed into the corresponding geographic coordinate frame using a quaternion transformation to reconstruct the galloping of the conductor. Both the hardware design and the software design are described in details. The corresponding test platforms are established, and the experiments show the feasibility and accuracy of the proposed monitoring sensor. The field operation of the proposed sensor in a conductor spanning 734 m also shows its effectiveness.

An Analysis of the High Frequency Vibrations in Early Thematic Mapper Scenes

NASA Technical Reports Server (NTRS)

Kogut, J.; Larduinat, E.

1984-01-01

The potential effects of high frequency vibrations on the final Thematic Mapper (TM) image are evaluated for 26 scenes. The angular displacements of the TM detectors from their nominal pointing directions as measured by the TM Angular Displacement Sensor (ADS) and the spacecraft Dry Rotor Inertial Reference Unit (DRIRU) give data on the along scan and cross scan high frequency vibrations present in each scan of a scene. These measurements are to find the maximum overlap and underlap between successive scans, and to analyze the spectrum of the high frequency vibrations acting on the detectors. The Fourier spectrum of the along scan and cross scan vibrations for each scene also evaluated. The spectra of the scenes examined indicate that the high frequency vibrations arise primarily from the motion of the TM and MSS mirrors, and that their amplitudes are well within expected ranges.

Advanced optical technologies for space exploration

NASA Astrophysics Data System (ADS)

Clark, Natalie

2007-09-01

NASA Langley Research Center is involved in the development of photonic devices and systems for space exploration missions. Photonic technologies of particular interest are those that can be utilized for in-space communication, remote sensing, guidance navigation and control, lunar descent and landing, and rendezvous and docking. NASA Langley has recently established a class-100 clean-room which serves as a Photonics Fabrication Facility for development of prototype optoelectronic devices for aerospace applications. In this paper we discuss our design, fabrication, and testing of novel active pixels, deformable mirrors, and liquid crystal spatial light modulators. Successful implementation of these intelligent optical devices and systems in space, requires careful consideration of temperature and space radiation effects in inorganic and electronic materials. Applications including high bandwidth inertial reference units, lightweight, high precision star trackers for guidance, navigation, and control, deformable mirrors, wavefront sensing, and beam steering technologies are discussed. In addition, experimental results are presented which characterize their performance in space exploration systems

Advanced Optical Technologies for Space Exploration

NASA Technical Reports Server (NTRS)

Clark, Natalie

2007-01-01

NASA Langley Research Center is involved in the development of photonic devices and systems for space exploration missions. Photonic technologies of particular interest are those that can be utilized for in-space communication, remote sensing, guidance navigation and control, lunar descent and landing, and rendezvous and docking. NASA Langley has recently established a class-100 clean-room which serves as a Photonics Fabrication Facility for development of prototype optoelectronic devices for aerospace applications. In this paper we discuss our design, fabrication, and testing of novel active pixels, deformable mirrors, and liquid crystal spatial light modulators. Successful implementation of these intelligent optical devices and systems in space, requires careful consideration of temperature and space radiation effects in inorganic and electronic materials. Applications including high bandwidth inertial reference units, lightweight, high precision star trackers for guidance, navigation, and control, deformable mirrors, wavefront sensing, and beam steering technologies are discussed. In addition, experimental results are presented which characterize their performance in space exploration systems.

Image-Aided Navigation Using Cooperative Binocular Stereopsis

DTIC Science & Technology

2014-03-27

Global Postioning System . . . . . . . . . . . . . . . . . . . . . . . . . 1 IMU Inertial Measurement Unit...an intertial measurement unit ( IMU ). This technique capitalizes on an IMU’s ability to capture quick motion and the ability of GPS to constrain long...the sensor-aided IMU framework. Visual sensors provide a number of benefits, such as low cost and weight. These sensors are also able to measure

LiDAR and Image Point Cloud Comparison

DTIC Science & Technology

2014-09-01

UAV unmanned aerial vehicle USGS United States Geological Survey UTM Universal Transverse Mercator WGS 84 World Geodetic System 1984 WSI...19  1.  Physics of LiDAR Systems ................................................................20  III.  DATA AND SOFTWARE...ground control point GPS Global Positioning System IMU inertial measurements unit LiDAR light detection and ranging MI mutual information MVS

Human Body Parts Tracking and Kinematic Features Assessment Based on RSSI and Inertial Sensor Measurements

PubMed Central

Blumrosen, Gaddi; Luttwak, Ami

2013-01-01

Acquisition of patient kinematics in different environments plays an important role in the detection of risk situations such as fall detection in elderly patients, in rehabilitation of patients with injuries, and in the design of treatment plans for patients with neurological diseases. Received Signal Strength Indicator (RSSI) measurements in a Body Area Network (BAN), capture the signal power on a radio link. The main aim of this paper is to demonstrate the potential of utilizing RSSI measurements in assessment of human kinematic features, and to give methods to determine these features. RSSI measurements can be used for tracking different body parts' displacements on scales of a few centimeters, for classifying motion and gait patterns instead of inertial sensors, and to serve as an additional reference to other sensors, in particular inertial sensors. Criteria and analytical methods for body part tracking, kinematic motion feature extraction, and a Kalman filter model for aggregation of RSSI and inertial sensor were derived. The methods were verified by a set of experiments performed in an indoor environment. In the future, the use of RSSI measurements can help in continuous assessment of various kinematic features of patients during their daily life activities and enhance medical diagnosis accuracy with lower costs. PMID:23979481

Human body parts tracking and kinematic features assessment based on RSSI and inertial sensor measurements.

PubMed

Blumrosen, Gaddi; Luttwak, Ami

2013-08-23

Acquisition of patient kinematics in different environments plays an important role in the detection of risk situations such as fall detection in elderly patients, in rehabilitation of patients with injuries, and in the design of treatment plans for patients with neurological diseases. Received Signal Strength Indicator (RSSI) measurements in a Body Area Network (BAN), capture the signal power on a radio link. The main aim of this paper is to demonstrate the potential of utilizing RSSI measurements in assessment of human kinematic features, and to give methods to determine these features. RSSI measurements can be used for tracking different body parts' displacements on scales of a few centimeters, for classifying motion and gait patterns instead of inertial sensors, and to serve as an additional reference to other sensors, in particular inertial sensors. Criteria and analytical methods for body part tracking, kinematic motion feature extraction, and a Kalman filter model for aggregation of RSSI and inertial sensor were derived. The methods were verified by a set of experiments performed in an indoor environment. In the future, the use of RSSI measurements can help in continuous assessment of various kinematic features of patients during their daily life activities and enhance medical diagnosis accuracy with lower costs.

Evaluation of different inertial control methods for variable-speed wind turbines simulated by fatigue, aerodynamic, structures and turbulence (FAST)

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wang, Xiao; Gao, Wenzhong; Scholbrock, Andrew

To mitigate the degraded power system inertia and undesirable primary frequency response caused by large-scale wind power integration, the frequency support capabilities of variable-speed wind turbines is studied in this work. This is made possible by controlled inertial response, which is demonstrated on a research turbine - controls advanced research turbine, 3-bladed (CART3). Two distinct inertial control (IC) methods are analysed in terms of their impacts on the grids and the response of the turbine itself. The released kinetic energy in the IC methods are determined by the frequency measurement or shaped active power reference in the turbine speed-power plane.more » The wind turbine model is based on the high-fidelity turbine simulator fatigue, aerodynamic, structures and turbulence, which constitutes the aggregated wind power plant model with the simplified power converter model. The IC methods are implemented over the baseline CART3 controller, evaluated in the modified 9-bus and 14-bus testing power grids considering different wind speeds and different wind power penetration levels. The simulation results provide various insights on designing such kinds of ICs. The authors calculate the short-term dynamic equivalent loads and give a discussion about the turbine structural loadings related to the inertial response.« less

Radiation from violently accelerated bodies

NASA Astrophysics Data System (ADS)

Gerlach, Ulrich H.

2001-11-01

A determination is made of the radiation emitted by a linearly uniformly accelerated uncharged dipole transmitter. It is found that, first of all, the radiation rate is given by the familiar Larmor formula, but it is augmented by an amount which becomes dominant for sufficiently high acceleration. For an accelerated dipole oscillator, the criterion is that the center of mass motion become relativistic within one oscillation period. The augmented formula and the measurements which it summarizes presuppose an expanding inertial observation frame. A static inertial reference frame will not do. Secondly, it is found that the radiation measured in the expanding inertial frame is received with 100% fidelity. There is no blueshift or redshift due to the accelerative motion of the transmitter. Finally, it is found that a pair of coherently radiating oscillators accelerating (into opposite directions) in their respective causally disjoint Rindler-coordinatized sectors produces an interference pattern in the expanding inertial frame. Like the pattern of a Young double slit interferometer, this Rindler interferometer pattern has a fringe spacing which is inversely proportional to the proper separation and the proper frequency of the accelerated sources. The interferometer, as well as the augmented Larmor formula, provide a unifying perspective. It joins adjacent Rindler-coordinatized neighborhoods into a single spacetime arena for scattering and radiation from accelerated bodies.

Inertial Spontaneous Symmetry Breaking and Quantum Scale Invariance

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ferreira, Pedro G.; Hill, Christopher T.; Ross, Graham G.

Weyl invariant theories of scalars and gravity can generate all mass scales spontaneously, initiated by a dynamical process of "inertial spontaneous symmetry breaking" that does not involve a potential. This is dictated by the structure of the Weyl current,more » $$K_\\mu$$, and a cosmological phase during which the universe expands and the Einstein-Hilbert effective action is formed. Maintaining exact Weyl invariance in the renormalised quantum theory is straightforward when renormalisation conditions are referred back to the VEV's of fields in the action of the theory, which implies a conserved Weyl current. We do not require scale invariant regulators. We illustrate the computation of a Weyl invariant Coleman-Weinberg potential.« less

Failure detection and isolation analysis of a redundant strapdown inertial measurement unit

NASA Technical Reports Server (NTRS)

Motyka, P.; Landey, M.; Mckern, R.

1981-01-01

The objective of this study was to define and develop techniques for failure detection and isolation (FDI) algorithms for a dual fail/operational redundant strapdown inertial navigation system are defined and developed. The FDI techniques chosen include provisions for hard and soft failure detection in the context of flight control and navigation. Analyses were done to determine error detection and switching levels for the inertial navigation system, which is intended for a conventional takeoff or landing (CTOL) operating environment. In addition, investigations of false alarms and missed alarms were included for the FDI techniques developed, along with the analyses of filters to be used in conjunction with FDI processing. Two specific FDI algorithms were compared: the generalized likelihood test and the edge vector test. A deterministic digital computer simulation was used to compare and evaluate the algorithms and FDI systems.

Quantitative Assessment of Parkinsonian Tremor Based on an Inertial Measurement Unit

PubMed Central

Dai, Houde; Zhang, Pengyue; Lueth, Tim C.

2015-01-01

Quantitative assessment of parkinsonian tremor based on inertial sensors can provide reliable feedback on the effect of medication. In this regard, the features of parkinsonian tremor and its unique properties such as motor fluctuations and dyskinesia are taken into account. Least-square-estimation models are used to assess the severities of rest, postural, and action tremors. In addition, a time-frequency signal analysis algorithm for tremor state detection was also included in the tremor assessment method. This inertial sensor-based method was verified through comparison with an electromagnetic motion tracking system. Seven Parkinson’s disease (PD) patients were tested using this tremor assessment system. The measured tremor amplitudes correlated well with the judgments of a neurologist (r = 0.98). The systematic analysis of sensor-based tremor quantification and the corresponding experiments could be of great help in monitoring the severity of parkinsonian tremor. PMID:26426020

Self-calibration method of the inner lever-arm parameters for a tri-axis RINS

NASA Astrophysics Data System (ADS)

Song, Tianxiao; Li, Kui; Sui, Jie; Liu, Zengjun; Liu, Juncheng

2017-11-01

A rotational inertial navigation system (RINS) could improve navigation performance by modulating the inertial sensor errors with rotatable gimbals. When an inertial measurement unit (IMU) rotates, the deviations between the accelerometer-sensitive points and the IMU center will lead to an inner lever-arm effect. In this paper, a self-calibration method of the inner lever-arm parameters for a tri-axis RINS is proposed. A novel rotation scheme with variable angular rate rotation is designed to motivate the velocity errors caused by the inner lever-arm effect. By extending all inner lever-arm parameters as filter states, a Kalman filter with velocity errors as measurement is established to achieve the calibration. The accuracy and feasibility of the proposed method are illustrated by both simulations and experiments. The final results indicate that the inner lever-arm effect is significantly restrained after compensation by the calibration results.

Precision electronic speed controller for an alternating-current motor

DOEpatents

Bolie, V.W.

A high precision controller for an alternating-current multi-phase electrical motor that is subject to a large inertial load. The controller was developed for controlling, in a neutron chopper system, a heavy spinning rotor that must be rotated in phase-locked synchronism with a reference pulse train that is representative of an ac power supply signal having a meandering line frequency. The controller includes a shaft revolution sensor which provides a feedback pulse train representative of the actual speed of the motor. An internal digital timing signal generator provides a reference signal which is compared with the feedback signal in a computing unit to provide a motor control signal. The motor control signal is a weighted linear sum of a speed error voltage, a phase error voltage, and a drift error voltage, each of which is computed anew with each revolution of the motor shaft. The speed error signal is generated by a novel vernier-logic circuit which is drift-free and highly sensitive to small speed changes. The phase error is also computed by digital logic, with adjustable sensitivity around a 0 mid-scale value. The drift error signal, generated by long-term counting of the phase error, is used to compensate for any slow changes in the average friction drag on the motor. An auxillary drift-byte status sensor prevents any disruptive overflow or underflow of the drift-error counter. An adjustable clocked-delay unit is inserted between the controller and the source of the reference pulse train to permit phase alignment of the rotor to any desired offset angle. The stator windings of the motor are driven by two amplifiers which are provided with input signals having the proper quadrature relationship by an exciter unit consisting of a voltage controlled oscillator, a binary counter, a pair of read-only memories, and a pair of digital-to-analog converters.

Osculating Relative Orbit Elements Resulting from Chief Eccentricity and J2 Perturbing Forces

DTIC Science & Technology

2011-03-01

significant importance to the analytical investigation in this study and is described in depth in Section 3.1.1. There do exist approaches to mapping the...necessary to introduce the environment which the majority of models describe. 2.2.1 Inertial Reference Frame. A geocentric reference frame will be used for...closest approach , modifying the period and minima locations of the radial and in-track components. This change impacts the periodicity of the radial

Inertial Measures of Motion for Clinical Biomechanics: Comparative Assessment of Accuracy under Controlled Conditions - Effect of Velocity

PubMed Central

Lebel, Karina; Boissy, Patrick; Hamel, Mathieu; Duval, Christian

2013-01-01

Background Inertial measurement of motion with Attitude and Heading Reference Systems (AHRS) is emerging as an alternative to 3D motion capture systems in biomechanics. The objectives of this study are: 1) to describe the absolute and relative accuracy of multiple units of commercially available AHRS under various types of motion; and 2) to evaluate the effect of motion velocity on the accuracy of these measurements. Methods The criterion validity of accuracy was established under controlled conditions using an instrumented Gimbal table. AHRS modules were carefully attached to the center plate of the Gimbal table and put through experimental static and dynamic conditions. Static and absolute accuracy was assessed by comparing the AHRS orientation measurement to those obtained using an optical gold standard. Relative accuracy was assessed by measuring the variation in relative orientation between modules during trials. Findings Evaluated AHRS systems demonstrated good absolute static accuracy (mean error < 0.5o) and clinically acceptable absolute accuracy under condition of slow motions (mean error between 0.5o and 3.1o). In slow motions, relative accuracy varied from 2o to 7o depending on the type of AHRS and the type of rotation. Absolute and relative accuracy were significantly affected (p<0.05) by velocity during sustained motions. The extent of that effect varied across AHRS. Interpretation Absolute and relative accuracy of AHRS are affected by environmental magnetic perturbations and conditions of motions. Relative accuracy of AHRS is mostly affected by the ability of all modules to locate the same global reference coordinate system at all time. Conclusions Existing AHRS systems can be considered for use in clinical biomechanics under constrained conditions of use. While their individual capacity to track absolute motion is relatively consistent, the use of multiple AHRS modules to compute relative motion between rigid bodies needs to be optimized according to the conditions of operation. PMID:24260324

Why Does the Motorbike Feather?

ERIC Educational Resources Information Center

Ruocco, A.; De Luca, R.

2007-01-01

The problem of motorbike feathering has been analysed by writing the angular momentum theorem for non-inertial reference systems. The acceleration, for which the ideal line joining the median points of the axles of the two wheels makes an angle [theta] with the horizontal, has been calculated neglecting air friction and considering that the…

Hardware math for the 6502 microprocessor

NASA Technical Reports Server (NTRS)

Kissel, R.; Currie, J.

1985-01-01

A floating-point arithmetic unit is described which is being used in the Ground Facility of Large Space Structures Control Verification (GF/LSSCV). The experiment uses two complete inertial measurement units and a set of three gimbal torquers in a closed loop to control the structural vibrations in a flexible test article (beam). A 6502 (8-bit) microprocessor controls four AMD 9511A floating-point arithmetic units to do all the computation in 20 milliseconds.

Model-based extended quaternion Kalman filter to inertial orientation tracking of arbitrary kinematic chains.

PubMed

Szczęsna, Agnieszka; Pruszowski, Przemysław

2016-01-01

Inertial orientation tracking is still an area of active research, especially in the context of out-door, real-time, human motion capture. Existing systems either propose loosely coupled tracking approaches where each segment is considered independently, taking the resulting drawbacks into account, or tightly coupled solutions that are limited to a fixed chain with few segments. Such solutions have no flexibility to change the skeleton structure, are dedicated to a specific set of joints, and have high computational complexity. This paper describes the proposal of a new model-based extended quaternion Kalman filter that allows for estimation of orientation based on outputs from the inertial measurements unit sensors. The filter considers interdependencies resulting from the construction of the kinematic chain so that the orientation estimation is more accurate. The proposed solution is a universal filter that does not predetermine the degree of freedom at the connections between segments of the model. To validation the motion of 3-segments single link pendulum captured by optical motion capture system is used. The next step in the research will be to use this method for inertial motion capture with a human skeleton model.

A compensation method of lever arm effect for tri-axis hybrid inertial navigation system based on fiber optic gyro

NASA Astrophysics Data System (ADS)

Liu, Zengjun; Wang, Lei; Li, Kui; Gao, Jiaxin

2017-05-01

Hybrid inertial navigation system (HINS) is a new kind of inertial navigation system (INS), which combines advantages of platform INS, strap-down INS and rotational INS. HINS has a physical platform to isolate the angular motion as platform INS does, HINS also uses strap-down attitude algorithms and applies rotation modulation technique. Tri-axis HINS has three gimbals to isolate the angular motion in the dynamic base, in which way the system can reduce the effects of angular motion and improve the positioning precision. However, the angular motion will affect the compensation of some error parameters, especially for the lever arm effect. The lever arm effect caused by position errors between the accelerometers and rotation center cannot be ignored due to the rapid rotation of inertial measurement unit (IMU) and it will cause fluctuation and stage in velocity in HINS. The influences of angular motion on the lever arm effect compensation are analyzed firstly in this paper, and then the compensation method of lever arm effect based on the photoelectric encoders in dynamic base is proposed. Results of experiments on turntable show that after compensation, the fluctuations and stages in velocity curve disappear.

A Celestial Reference Frame at X/ka-Band (8.4/32 Ghz) for Deep Space Navigation

NASA Technical Reports Server (NTRS)

Jacobs, C. S.; Clark, J. E.; Garcia-Miro, C.; Horiuchi, S.; Romero-Wolf, A.; Snedeker, L.; Sotuela, I.

2012-01-01

Deep space tracking and navigation are done in a quasi-inertial reference frame based upon the angular positions of distant active galactic nuclei (AGN). These objects, which are found at extreme distances characterized by median redshifts of z = 1, are ideal for reference frame definition because they exhibit no measurable parallax or proper motion. They are thought to be powered by super massive black holes whose gravitational energy drives galactic sized relativistic jets. These jets produce synchrotron emissions which are detectable by modern radio techniques such as Very Long baseline Interferometry (VLBI).

Reference Frames in Relativistic Space-Time

NASA Astrophysics Data System (ADS)

Soffel, M.; Herold, H.; Ruder, H.; Schneider, M.

Three fundamental concepts of reference frames in relativistic space-time are confronted: 1. the gravitation compass, 2. the stellar compass and 3. the inertial compass. It is argued that under certain conditions asymptotically fixed (stellar) reference frames can be introduced with the same rigour as local Fermi frames, thereby eliminating one possible psychological reason why the importance of Fermi frames frequently has been overestimated in the past. As applications of these three concepts the authors discuss: 1. a relativistic definition of the geoid, 2. a relativistic astrometric problem and 3. the post-Newtonian theory of a laser gyroscope fixed to the Earth's surface.

Components for IFOG based inertial measurement units using active and passive polymer materials

NASA Astrophysics Data System (ADS)

Ashley, Paul R.; Temmen, Mark G.; Diffey, William M.; Sanghadasa, Mohan; Bramson, Michael D.; Lindsay, Geoffrey A.; Guenthner, Andrew J.

2006-08-01

Highly accurate, compact, and low cost inertial measurement units (IMUs) are needed for precision guidance in navigation systems. Active and passive polymer materials have been successfully used in fabricating two of the key guided-wave components, the phase modulator and the optical transceiver, for IMUs based on the interferometric fiber optic gyroscope (IFOG) technology. Advanced hybrid waveguide fabrication processes and novel optical integration techniques have been introduced. Backscatter compensated low loss phase modulators with low half-wave drive voltage (V π) have been fabricated with CLD- and FTC- type high performance electro-optic chromophores. A silicon-bench architecture has been used in fabricating high gain low noise transceivers with high optical power while maintaining the spectral quality and long lifetime. Gyro bias stability of less than 0.02 deg/hr has been demonstrated with these components. A review of the novel concepts introduced, fabrication and integration techniques developed and performance achieved are presented.

Sampling and Control Circuit Board for an Inertial Measurement Unit

NASA Technical Reports Server (NTRS)

Chelmins, David; Powis, Rick

2012-01-01

Spacesuit navigation is one component of NASA s efforts to return humans to the Moon. Studies performed at the NASA Glenn Research Center (GRC) considered various navigation technologies and filtering approaches to enable navigation on the lunar surface. As part of this effort, microelectromechanical systems (MEMS) inertial measurement units (IMUs) were studied to determine if they could supplement a radiometric infrastructure. MEMS IMUs were included in the Lunar Extra-Vehicular Activity Crewmember Location Determination System (LECLDS) testbed during NASA s annual Desert Research and Technology Studies (D-RATS) event in 2009 and 2010. The testbed included one IMU in 2009 and three IMUs in 2010, along with a custom circuit board interfacing between the navigation processor and each IMU. The board was revised for the 2010 test, and this paper documents the design details of this latest revision of the interface circuit board and firmware.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ken L. Stratton

The objective of this project is to investigate the applicability of a combined Global Positioning System and Inertial Measurement Unit (GPS/IMU) for information based displays on earthmoving machines and for automated earthmoving machines in the future. This technology has the potential of allowing an information-based product like Caterpillar's Computer Aided Earthmoving System (CAES) to operate in areas with satellite shading. Satellite shading is an issue in open pit mining because machines are routinely required to operate close to high walls, which reduces significantly the amount of the visible sky to the GPS antenna mounted on the machine. An inertial measurementmore » unit is a product, which provides data for the calculation of position based on sensing accelerations and rotation rates of the machine's rigid body. When this information is coupled with GPS it results in a positioning system that can maintain positioning capability during time periods of shading.« less

Classification of Movement of People with Parkinsons Disease Using Wearable Inertial Movement Units and Machine Learning.

PubMed

Ireland, David; Wang, Ziwei; Lamont, Robyn; Liddle, Jacki

2016-01-01

In this work, inertial movement units were placed on people with Parkinsons disease (PwPD) who subsequently performed a standard test of walking endurance (six-minute walk test - 6MWT). Five devices were placed on each the limbs and small of the back. These devices captured the acceleration and rotational motion while the person walked as far as they can in six minutes. The wearable devices can objectively indicate the pattern and rhythmicity of limb and body movements. It is possible that this data, when subject to machine learning could provide additional objective measures that may support clinical observations related to the quality of movement. The aim of this work is two fold. First, to identify the most useful features of the captured signals; second, to identify the accuracy of using these features to predict the severity of PD as measured by standard clinical assessment.

Wireless inertial measurement unit with GPS (WIMU-GPS)--wearable monitoring platform for ecological assessment of lifespace and mobility in aging and disease.

PubMed

Boissy, Patrick; Brière, Simon; Hamel, Mathieu; Jog, Mandar; Speechley, Mark; Karelis, Antony; Frank, James; Vincent, Claude; Edwards, Rodrick; Duval, Christian

2011-01-01

This paper proposes an innovative ambulatory mobility and activity monitoring approach based on a wearable datalogging platform that combines inertial sensing with GPS tracking to assess the lifespace and mobility profile of individuals in their home and community environments. The components, I/O architecture, sensors and functions of the WIMU-GPS are presented. Outcome variables that can be measured with it are described and illustrated. Data on the power usage, operating autonomy of the WIMU-GPS and the GPS tracking performances and time to first fix of the unit are presented. The study of lifespace and mobility with the WIMU-GPS can potentially provide unique insights into intrapersonal and environmental factors contributing to mobility restriction. On-going studies are underway to establish the validity and reliability of the WIMU-GPS in characterizing the lifespace and mobility profile of older adults.

Astrophysics of Reference Frame Tie Objects

NASA Technical Reports Server (NTRS)

Johnston, Kenneth J.; Boboltz, David; Fey, Alan Lee; Gaume, Ralph A.; Zacharias, Norbert

2004-01-01

The Astrophysics of Reference Frame Tie Objects Key Science program will investigate the underlying physics of SIM grid objects. Extragalactic objects in the SIM grid will be used to tie the SIM reference frame to the quasi-inertial reference frame defined by extragalactic objects and to remove any residual frame rotation with respect to the extragalactic frame. The current realization of the extragalactic frame is the International Celestial Reference Frame (ICRF). The ICRF is defined by the radio positions of 212 extragalactic objects and is the IAU sanctioned fundamental astronomical reference frame. This key project will advance our knowledge of the physics of the objects which will make up the SIM grid, such as quasars and chromospherically active stars, and relates directly to the stability of the SIM reference frame. The following questions concerning the physics of reference frame tie objects will be investigated.

Observable Zitterbewegung in curved spacetimes

NASA Astrophysics Data System (ADS)

Kobakhidze, Archil; Manning, Adrian; Tureanu, Anca

2016-06-01

Zitterbewegung, as it was originally described by Schrödinger, is an unphysical, non-observable effect. We verify whether the effect can be observed in non-inertial reference frames/curved spacetimes, where the ambiguity in defining particle states results in a mixing of positive and negative frequency modes. We explicitly demonstrate that such a mixing is in fact necessary to obtain the correct classical value for a particle's velocity in a uniformly accelerated reference frame, whereas in cosmological spacetime a particle does indeed exhibit Zitterbewegung.

Utilization of Practice Session Average Inertial Load to Quantify College Football Injury Risk.

PubMed

Wilkerson, Gary B; Gupta, Ashish; Allen, Jeff R; Keith, Clay M; Colston, Marisa A

2016-09-01

Wilkerson, GB, Gupta, A, Allen, JR, Keith, CM, and Colston, MA. Utilization of practice session average inertial load to quantify college football injury risk. J Strength Cond Res 30(9): 2369-2374, 2016-Relatively few studies have investigated the potential injury prevention value of data derived from recently developed wearable technology for measurement of body mass accelerations during the performance of sport-related activities. The available evidence has been derived from studies focused on avoidance of overtraining syndrome, which is believed to induce a chronically fatigued state that can be identified through monitoring of inertial load accumulation. Reduced variability in movement patterns is also believed to be an important injury risk factor, but no evidence currently exists to guide interpretation of data derived from inertial measurement units (IMUs) in this regard. We retrospectively analyzed archived data for a cohort of 45 National Collegiate Athletic Association Division 1-football bowl subdivision football players who wore IMUs on the upper back during practice sessions to quantify any associations between average inertial load measured during practice sessions and occurrence of musculoskeletal sprains and strains. Both the coefficient of variation for average inertial load and frequent exposure to game conditions were found to be strongly associated with injury occurrence. Having either or both of the 2 risk factors provided strong discrimination between injured and noninjured players (χ = 9.048; p = 0.004; odds ratio = 8.04; 90% CI: 2.39, 27.03). Our findings may facilitate identification of individual football players who are likely to derive the greatest benefit from training activities designed to reduce injury risk through improved adaptability to rapidly changing environmental demands.

20 years of KVH fiber optic gyro technology: the evolution from large, low performance FOGs to compact, precise FOGs and FOG-based inertial systems

NASA Astrophysics Data System (ADS)

Napoli, Jay

2016-05-01

Precision fiber optic gyroscopes (FOGs) are critical components for an array of platforms and applications ranging from stabilization and pointing orientation of payloads and platforms to navigation and control for unmanned and autonomous systems. In addition, FOG-based inertial systems provide extremely accurate data for geo-referencing systems. Significant improvements in the performance of FOGs and FOG-based inertial systems at KVH are due, in large part, to advancements in the design and manufacture of optical fiber, as well as in manufacturing operations and signal processing. Open loop FOGs, such as those developed and manufactured by KVH Industries, offer tactical-grade performance in a robust, small package. The success of KVH FOGs and FOG-based inertial systems is due to innovations in key fields, including the development of proprietary D-shaped fiber with an elliptical core, and KVH's unique ThinFiber. KVH continually improves its FOG manufacturing processes and signal processing, which result in improved accuracies across its entire FOG product line. KVH acquired its FOG capabilities, including its patented E•Core fiber, when the company purchased Andrew Corporation's Fiber Optic Group in 1997. E•Core fiber is unique in that the light-guiding core - critical to the FOG's performance - is elliptically shaped. The elliptical core produces a fiber that has low loss and high polarization-maintaining ability. In 2010, KVH developed its ThinFiber, a 170-micron diameter fiber that retains the full performance characteristics of E•Core fiber. ThinFiber has enabled the development of very compact, high-performance open-loop FOGs, which are also used in a line of FOG-based inertial measurement units and inertial navigation systems.

High accuracy navigation information estimation for inertial system using the multi-model EKF fusing adams explicit formula applied to underwater gliders.

PubMed

Huang, Haoqian; Chen, Xiyuan; Zhang, Bo; Wang, Jian

2017-01-01

The underwater navigation system, mainly consisting of MEMS inertial sensors, is a key technology for the wide application of underwater gliders and plays an important role in achieving high accuracy navigation and positioning for a long time of period. However, the navigation errors will accumulate over time because of the inherent errors of inertial sensors, especially for MEMS grade IMU (Inertial Measurement Unit) generally used in gliders. The dead reckoning module is added to compensate the errors. In the complicated underwater environment, the performance of MEMS sensors is degraded sharply and the errors will become much larger. It is difficult to establish the accurate and fixed error model for the inertial sensor. Therefore, it is very hard to improve the accuracy of navigation information calculated by sensors. In order to solve the problem mentioned, the more suitable filter which integrates the multi-model method with an EKF approach can be designed according to different error models to give the optimal estimation for the state. The key parameters of error models can be used to determine the corresponding filter. The Adams explicit formula which has an advantage of high precision prediction is simultaneously fused into the above filter to achieve the much more improvement in attitudes estimation accuracy. The proposed algorithm has been proved through theory analyses and has been tested by both vehicle experiments and lake trials. Results show that the proposed method has better accuracy and effectiveness in terms of attitudes estimation compared with other methods mentioned in the paper for inertial navigation applied to underwater gliders. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Suggested notation conventions for rotational seismology

USGS Publications Warehouse

Evans, J.R.

2009-01-01

We note substantial inconsistency among authors discussing rotational motions observed with inertial seismic sensors (and much more so in the broader topic of rotational phenomena). Working from physics and other precedents, we propose standard terminology and a preferred reference frame for inertial sensors (Fig. 1) that may be consistently used in discussions of both finite and infinitesimal observed rotational and translational motions in seismology and earthquake engineering. The scope of this article is limited to observations because there are significant differences in the analysis of finite and infinitesimal rotations, though such discussions should remain compatible with those presented here where possible. We recommend the general use of the notation conventions presented in this tutorial, and we recommend that any deviations or alternatives be explicitly defined.

Continuous three dimensional analysis of running mechanics during a marathon by means of inertial magnetic measurement units to objectify changes in running mechanics.

PubMed

Reenalda, Jasper; Maartens, Erik; Homan, Lotte; Buurke, J H Jaap

2016-10-03

Recent developments in wearable and wireless sensor technology allow for a continuous three dimensional analysis of running mechanics in the sport specific setting. The present study is the first to demonstrate the possibility of analyzing three dimensional (3D) running mechanics continuously, by means of inertial magnetic measurement units, to objectify changes in mechanics over the course of a marathon. Three well trained male distance runners ran a marathon while equipped with inertial magnetic measurement units on trunk, pelvis, upper legs, lower legs and feet to obtain a 3D view of running mechanics and to asses changes in running mechanics over the course of a marathon. Data were continuously recorded during the entire 42.2km (26.2Miles) of the Marathon. Data from the individual sensors were transmitted wirelessly to a receiver, mounted on the handlebar of an accompanying cyclist. Anatomical calibration was performed using both static and dynamic procedures and sensor orientations were thus converted to body segment orientations by means of transformation matrices obtained from the segment calibration. Joint angle (hip, knee and ankle) trajectories as well as center of mass (COM) trajectory and acceleration were derived from the sensor data after segment calibration. Data were collected and repeated measures one way ANOVA׳s, with Tukey post-hoc test, were used to statistically analyze differences between the defined kinematic parameters (max hip angle, peak knee flexion at mid-stance and at mid-swing, ankle angle at initial contact and COM vertical displacement and acceleration), averaged over 100 strides, between the first and the last stages (8 and 40km) of the marathon. Significant changes in running mechanics were witnessed between the first and the last stage of the marathon. This study showed the possibility of performing a 3D kinematic analysis of the running technique, in the sport specific setting, by using inertial magnetic measurement units. For the three runners analyzed, significant changes were observed in running mechanics over the course of a marathon. The present measurement technique therefore allows for more in-depth study of running mechanics outside the laboratory setting. Copyright © 2016 Elsevier Ltd. All rights reserved.

Mining Survey System (MSS) - innovative solution in Polish mines. (Polish Title: Mobilna Platforma Gurnicza (MPG) - nowatorskim rozwilazaniem w polskich kopalniach)

NASA Astrophysics Data System (ADS)

Adamek, A.

2015-12-01

Mobile laser scanning technology is developing rapidly also in mining. For several years research and tests are conducted on the use of that type of measurement in the inventory of the mine shafts. The company SKALA 3D in the project 1.4 POIG by PARP undertook to create Mobile automatic steering system of spatial geometry measurements mine shafts using laser scanning technology. Its main advantage is a faithful reflection of the object being measured in just a few hours. It is based on the data flowing from laser scanners and precision inertial unit. The main problem of the research was to determine the trajectory of the passing Mobile Platforms Mining (MPG) in the shaft as accurately as possible. Unable to receive signals from satellites in the pipe shaft prevented the use of solutions known for measuring terrestrial mobile systems. The company SKALA 3D has developed a methodology for determine the trajectory of the system, based on geometrical data coming from laser scanners and readings of accelerometers and gyroscopes of inertial unit. To improve the quality and accuracy of measurements MPG is also equipped with a set of anti-vibration parts prevent the transmission of vibrations ascending while cage is moving in the shaft on the measuring system. The whole forms a calibrated system, which in a short time is able to provide spatial measurement data from the measuring shaft. The accuracy of 2-3 mm in a single measurement horizon and a few centimeters determine the position of a point on the thousandth meter below ground make the system very accurate. During the project there have been numerous research problems, including the need to define the physical references, drift of IMU whether harsh weather conditions in the shaft. However, the company SKALA 3D solved these problems and making MPG unique in the world.

Airborne full tensor magnetic gradiometry surveys in the Thuringian basin, Germany

NASA Astrophysics Data System (ADS)

Queitsch, M.; Schiffler, M.; Goepel, A.; Stolz, R.; Meyer, M.; Meyer, H.; Kukowski, N.

2013-12-01

In this contribution we introduce a newly developed fully operational full tensor magnetic gradiometer (FTMG) instrument based on Superconducting Quantum Interference Devices (SQUIDs) and show example data acquired in 2012 within the framework of the INFLUINS (Integrated Fluid Dynamics in Sedimentary basins) project. This multidisciplinary project aims for a better understanding of movements and interaction between shallow and deep fluids in the Thuringian Basin in the center of Germany. In contrast to mapping total magnetic field intensity (TMI) in conventional airborne magnetic surveys for industrial exploration of mineral deposits and sedimentary basins, our instrument measures all components of the magnetic field gradient tensor using highly sensitive SQUID gradiometers. This significantly constrains the solutions of the inverse problem. Furthermore, information on the ratio between induced and remanent magnetization is obtained. Special care has been taken to reduce motion noise while acquiring data in airborne operation. Therefore, the sensors are mounted in a nonmagnetic and aerodynamically shaped bird made of fiberglas with a high drag tail which stabilizes the bird even at low velocities. The system is towed by a helicopter and kept at 30m above ground during data acquisition. Additionally, the system in the bird incorporates an inertial unit for geo-referencing and enhanced motion noise compensation, a radar altimeter for topographic correction and a GPS system for high precision positioning. Advanced data processing techniques using reference magnetometer and inertial unit data result in a very low system noise of less than 60 pT/m peak to peak in airborne operation. To show the performance of the system we present example results from survey areas within the Thuringian basin and along its bordering highlands. The mapped gradient tensor components show a high correlation to existing geologic maps. Furthermore, the measured gradient components indicate that some of the observed magnetic anomalies have a strong remanent magnetization. One example of interpretation of the acquired data of a magnetic anomaly related to a larger gabbro formation is presented.

Behavioral Dynamics in Swimming: The Appropriate Use of Inertial Measurement Units.

PubMed

Guignard, Brice; Rouard, Annie; Chollet, Didier; Seifert, Ludovic

2017-01-01

Motor control in swimming can be analyzed using low- and high-order parameters of behavior. Low-order parameters generally refer to the superficial aspects of movement (i.e., position, velocity, acceleration), whereas high-order parameters capture the dynamics of movement coordination. To assess human aquatic behavior, both types have usually been investigated with multi-camera systems, as they offer high three-dimensional spatial accuracy. Research in ecological dynamics has shown that movement system variability can be viewed as a functional property of skilled performers, helping them adapt their movements to the surrounding constraints. Yet to determine the variability of swimming behavior, a large number of stroke cycles (i.e., inter-cyclic variability) has to be analyzed, which is impossible with camera-based systems as they simply record behaviors over restricted volumes of water. Inertial measurement units (IMUs) were designed to explore the parameters and variability of coordination dynamics. These light, transportable and easy-to-use devices offer new perspectives for swimming research because they can record low- to high-order behavioral parameters over long periods. We first review how the low-order behavioral parameters (i.e., speed, stroke length, stroke rate) of human aquatic locomotion and their variability can be assessed using IMUs. We then review the way high-order parameters are assessed and the adaptive role of movement and coordination variability in swimming. We give special focus to the circumstances in which determining the variability between stroke cycles provides insight into how behavior oscillates between stable and flexible states to functionally respond to environmental and task constraints. The last section of the review is dedicated to practical recommendations for coaches on using IMUs to monitor swimming performance. We therefore highlight the need for rigor in dealing with these sensors appropriately in water. We explain the fundamental and mandatory steps to follow for accurate results with IMUs, from data acquisition (e.g., waterproofing procedures) to interpretation (e.g., drift correction).

Behavioral Dynamics in Swimming: The Appropriate Use of Inertial Measurement Units

PubMed Central

Guignard, Brice; Rouard, Annie; Chollet, Didier; Seifert, Ludovic

2017-01-01

Motor control in swimming can be analyzed using low- and high-order parameters of behavior. Low-order parameters generally refer to the superficial aspects of movement (i.e., position, velocity, acceleration), whereas high-order parameters capture the dynamics of movement coordination. To assess human aquatic behavior, both types have usually been investigated with multi-camera systems, as they offer high three-dimensional spatial accuracy. Research in ecological dynamics has shown that movement system variability can be viewed as a functional property of skilled performers, helping them adapt their movements to the surrounding constraints. Yet to determine the variability of swimming behavior, a large number of stroke cycles (i.e., inter-cyclic variability) has to be analyzed, which is impossible with camera-based systems as they simply record behaviors over restricted volumes of water. Inertial measurement units (IMUs) were designed to explore the parameters and variability of coordination dynamics. These light, transportable and easy-to-use devices offer new perspectives for swimming research because they can record low- to high-order behavioral parameters over long periods. We first review how the low-order behavioral parameters (i.e., speed, stroke length, stroke rate) of human aquatic locomotion and their variability can be assessed using IMUs. We then review the way high-order parameters are assessed and the adaptive role of movement and coordination variability in swimming. We give special focus to the circumstances in which determining the variability between stroke cycles provides insight into how behavior oscillates between stable and flexible states to functionally respond to environmental and task constraints. The last section of the review is dedicated to practical recommendations for coaches on using IMUs to monitor swimming performance. We therefore highlight the need for rigor in dealing with these sensors appropriately in water. We explain the fundamental and mandatory steps to follow for accurate results with IMUs, from data acquisition (e.g., waterproofing procedures) to interpretation (e.g., drift correction). PMID:28352243

Optimal trajectories for the Aeroassisted Flight Experiment. Part 2: Equations of motion in an inertial system

NASA Technical Reports Server (NTRS)

Miele, A.; Zhao, Z. G.; Lee, W. Y.

1989-01-01

The determination of optimal trajectories for the aeroassisted flight experiment (AFE) is discussed. The AFE refers to the study of the free flight of an autonomous spacecraft, shuttle-launched and shuttle-recovered. Its purpose is to gather atmospheric entry environmental data for use in designing aeroassisted orbital transfer vehicles (AOTV). It is assumed that: (1) the spacecraft is a particle of constant mass; (2) the Earth is rotating with constant angular velocity; (3) the Earth is an oblate planet, and the gravitational potential depends on both the radial distance and the latitude (harmonics of order higher than four are ignored); and (4) the atmosphere is at rest with respect to the Earth. Under these assumptions, the equations of motion for hypervelocity atmospheric flight (which can be used not only for AFE problems, but also for AOT problems and space shuttle problems) are derived in an inertial system. Transformation relations are supplied which allow one to pass from quantities computed in an inertial system to quantities computed in an Earth-fixed system and vice versa.

An ATP System for Deep-Space Optical Communication

NASA Technical Reports Server (NTRS)

Lee, Shinhak; Irtuzm Gerardi; Alexander, James

2008-01-01

An acquisition, tracking, and pointing (ATP) system is proposed for aiming an optical-communications downlink laser beam from deep space. In providing for a direction reference, the concept exploits the mature technology of star trackers to eliminate the need for a costly and potentially hazardous laser beacon. The system would include one optical and two inertial sensors, each contributing primarily to a different portion of the frequency spectrum of the pointing signal: a star tracker (<10 Hz), a gyroscope (<50 Hz), and a precise fluid-rotor inertial angular-displacement sensor (sometimes called, simply, "angle sensor") for the frequency range >50 Hz. The outputs of these sensors would be combined in an iterative averaging process to obtain high-bandwidth, high-accuracy pointing knowledge. The accuracy of pointing knowledge obtainable by use of the system was estimated on the basis of an 8-cm-diameter telescope and known parameters of commercially available star trackers and inertial sensors: The single-axis pointing-knowledge error was found to be characterized by a standard deviation of 150 nanoradians - below the maximum value (between 200 and 300 nanoradians) likely to be tolerable in deep-space optical communications.

Optimal Parameter Design of Coarse Alignment for Fiber Optic Gyro Inertial Navigation System.

PubMed

Lu, Baofeng; Wang, Qiuying; Yu, Chunmei; Gao, Wei

2015-06-25

Two different coarse alignment algorithms for Fiber Optic Gyro (FOG) Inertial Navigation System (INS) based on inertial reference frame are discussed in this paper. Both of them are based on gravity vector integration, therefore, the performance of these algorithms is determined by integration time. In previous works, integration time is selected by experience. In order to give a criterion for the selection process, and make the selection of the integration time more accurate, optimal parameter design of these algorithms for FOG INS is performed in this paper. The design process is accomplished based on the analysis of the error characteristics of these two coarse alignment algorithms. Moreover, this analysis and optimal parameter design allow us to make an adequate selection of the most accurate algorithm for FOG INS according to the actual operational conditions. The analysis and simulation results show that the parameter provided by this work is the optimal value, and indicate that in different operational conditions, the coarse alignment algorithms adopted for FOG INS are different in order to achieve better performance. Lastly, the experiment results validate the effectiveness of the proposed algorithm.

Sensorimotor Adaptation Following Exposure to Ambiguous Inertial Motion Cues

NASA Technical Reports Server (NTRS)

Wood, S. J.; Clement, G. R.; Harm, D L.; Rupert, A. H.; Guedry, F. E.; Reschke, M. F.

2005-01-01

The central nervous system must resolve the ambiguity of inertial motion sensory cues in order to derive accurate spatial orientation awareness. Our general hypothesis is that the central nervous system utilizes both multi-sensory integration and frequency segregation as neural strategies to resolve the ambiguity of tilt and translation stimuli. Movement in an altered gravity environment, such as weightlessness without a stable gravity reference, results in new patterns of sensory cues. For example, the semicircular canals, vision and neck proprioception provide information about head tilt on orbit without the normal otolith head-tilt position that is omnipresent on Earth. Adaptive changes in how inertial cues from the otolith system are integrated with other sensory information lead to perceptual and postural disturbances upon return to Earth s gravity. The primary goals of this ground-based research investigation are to explore physiological mechanisms and operational implications of disorientation and tilt-translation disturbances reported by crewmembers during and following re-entry, and to evaluate a tactile prosthesis as a countermeasure for improving control of whole-body orientation during tilt and translation motion.

Sensorimotor Adaptation Following Exposure to Ambiguous Inertial Motion Cues

NASA Technical Reports Server (NTRS)

Wood, S. J.; Clement, G. R.; Harm, D. L.; Rupert, A. H.; Guedry, F. E.; Reschke, M. F.

2005-01-01

The central nervous system must resolve the ambiguity of inertial motion sensory cues in order to derive accurate spatial orientation awareness. Our general hypothesis is that the central nervous system utilizes both multi-sensory integration and frequency segregation as neural strategies to resolve the ambiguity of tilt and translation stimuli. Movement in an altered gravity environment, such as weightlessness without a stable gravity reference, results in new patterns of sensory cues. For example, the semicircular canals, vision and neck proprioception provide information about head tilt on orbit without the normal otolith head-tilt position that is omnipresent on Earth. Adaptive changes in how inertial cues from the otolith system are integrated with other sensory information lead to perceptual and postural disturbances upon return to Earth's gravity. The primary goals of this ground-based research investigation are to explore physiological mechanisms and operational implications of disorientation and tilt-translation disturbances reported by crewmembers during and following re-entry, and to evaluate a tactile prosthesis as a countermeasure for improving control of whole-body orientation during tilt and translation motion.

Fuzzy adaptive integration scheme for low-cost SINS/GPS navigation system

NASA Astrophysics Data System (ADS)

Nourmohammadi, Hossein; Keighobadi, Jafar

2018-01-01

Due to weak stand-alone accuracy as well as poor run-to-run stability of micro-electro mechanical system (MEMS)-based inertial sensors, special approaches are required to integrate low-cost strap-down inertial navigation system (SINS) with global positioning system (GPS), particularly in long-term applications. This paper aims to enhance long-term performance of conventional SINS/GPS navigation systems using a fuzzy adaptive integration scheme. The main concept behind the proposed adaptive integration is the good performance of attitude-heading reference system (AHRS) in low-accelerated motions and its degradation in maneuvered or accelerated motions. Depending on vehicle maneuvers, gravity-based attitude angles can be intelligently utilized to improve orientation estimation in the SINS. Knowledge-based fuzzy inference system is developed for decision-making between the AHRS and the SINS according to vehicle maneuvering conditions. Inertial measurements are the main input data of the fuzzy system to determine the maneuvering level during the vehicle motions. Accordingly, appropriate weighting coefficients are produced to combine the SINS/GPS and the AHRS, efficiently. The assessment of the proposed integrated navigation system is conducted via real data in airborne tests.

Inertial Gait Phase Detection for control of a drop foot stimulator Inertial sensing for gait phase detection.

PubMed

Kotiadis, D; Hermens, H J; Veltink, P H

2010-05-01

An Inertial Gait Phase Detection system was developed to replace heel switches and footswitches currently being used for the triggering of drop foot stimulators. A series of four algorithms utilising accelerometers and gyroscopes individually and in combination were tested and initial results are shown. Sensors were positioned on the outside of the upper shank. Tests were performed on data gathered from a subject, sufferer of stroke, implanted with a drop foot stimulator and triggered with the current trigger, the heel switch. Data tested includes a variety of activities representing everyday life. Flat surface walking, rough terrain and carpet walking show 100% detection and the ability of the algorithms to ignore non-gait events such as weight shifts. Timing analysis is performed against the current triggering method, the heel switch. After evaluating the heel switch timing against a reference system, namely the Vicon 370 marker and force plates system. Initial results show a close correlation between the current trigger detection and the inertial sensor based triggering algorithms. Algorithms were tested for stairs up and stairs down. Best results are observed for algorithms using gyroscope data. Algorithms were designed using threshold techniques for lowest possible computational load and with least possible sensor components to minimize power requirements and to allow for potential future implantation of sensor system.

On the addition theorem of spherical functions

NASA Astrophysics Data System (ADS)

Shkodrov, V. G.

The addition theorem of spherical functions is expressed in two reference systems, viz., an inertial system and a system rigidly fixed to a planet. A generalized addition theorem of spherical functions and a particular addition theorem for the rigidly fixed system are derived. The results are applied to the theory of a planetary potential.

When Equal Masses Don't Balance

ERIC Educational Resources Information Center

Newburgh, Ronald; Peidle, Joseph; Rueckner, Wolfgang

2004-01-01

We treat a modified Atwood's machine in which equal masses do not balance because of being in an accelerated frame of reference. Analysis of the problem illuminates the meaning of inertial forces, d'Alembert's principle, the use of free-body diagrams and the selection of appropriate systems for the diagrams. In spite of the range of these…

The Challenge of Changing Deeply Held Student Beliefs about the Relativity of Simultaneity.

ERIC Educational Resources Information Center

Scherr, Rachel E.; Shaffer, Peter S.; Vokos, Stamatis

2002-01-01

Describes the development and assessment of instructional materials intended to improve student understanding of the concept of time in special relativity, the relativity of simultaneity, and the role of observers in inertial reference frames. Demonstrates the effect of the curriculum and illustrates the intense cognitive conflict as students are…

A novel body frame based approach to aerospacecraft attitude tracking.

PubMed

Ma, Carlos; Chen, Michael Z Q; Lam, James; Cheung, Kie Chung

2017-09-01

In the common practice of designing an attitude tracker for an aerospacecraft, one transforms the Newton-Euler rotation equations to obtain the dynamic equations of some chosen inertial frame based attitude metrics, such as Euler angles and unit quaternions. A Lyapunov approach is then used to design a controller which ensures asymptotic convergence of the attitude to the desired orientation. Although this design methodology is pretty standard, it usually involves singularity-prone coordinate transformations which complicates the analysis process and controller design. A new, singularity free error feedback method is proposed in the paper to provide simple and intuitive stability analysis and controller synthesis. This new body frame based method utilizes the concept of Euleraxis and angles to generate the smallest error angles from a body frame perspective, without coordinate transformations. Global tracking convergence is illustrated with the use of a feedback linearizing PD tracker, a sliding mode controller, and a model reference adaptive controller. Experimental results are also obtained on a quadrotor platform with unknown system parameters and disturbances, using a boundary layer approximated sliding mode controller, a PIDD controller, and a unit sliding mode controller. Significant tracking quality is attained. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Intelligent Behavioral Action Aiding for Improved Autonomous Image Navigation

DTIC Science & Technology

2012-09-13

odometry, SICK laser scanning unit ( Lidar ), Inertial Measurement Unit (IMU) and ultrasonic distance measurement system (Figure 32). The Lidar , IMU...2010, July) GPS world. [Online]. http://www.gpsworld.com/tech-talk- blog/gnss-independent-navigation-solution-using-integrated- lidar -data-11378 [4...Milford, David McKinnon, Michael Warren, Gordon Wyeth, and Ben Upcroft, "Feature-based Visual Odometry and Featureless Place Recognition for SLAM in

A Micromechanical INS/GPS System for Small Satellites

NASA Technical Reports Server (NTRS)

Barbour, N.; Brand, T.; Haley, R.; Socha, M.; Stoll, J.; Ward, P.; Weinberg, M.

1995-01-01

The cost and complexity of large satellite space missions continue to escalate. To reduce costs, more attention is being directed toward small lightweight satellites where future demand is expected to grow dramatically. Specifically, micromechanical inertial systems and microstrip global positioning system (GPS) antennas incorporating flip-chip bonding, application specific integrated circuits (ASIC) and MCM technologies will be required. Traditional microsatellite pointing systems do not employ active control. Many systems allow the satellite to point coarsely using gravity gradient, then attempt to maintain the image on the focal plane with fast-steering mirrors. Draper's approach is to actively control the line of sight pointing by utilizing on-board attitude determination with micromechanical inertial sensors and reaction wheel control actuators. Draper has developed commercial and tactical-grade micromechanical inertial sensors, The small size, low weight, and low cost of these gyroscopes and accelerometers enable systems previously impractical because of size and cost. Evolving micromechanical inertial sensors can be applied to closed-loop, active control of small satellites for micro-radian precision-pointing missions. An inertial reference feedback control loop can be used to determine attitude and line of sight jitter to provide error information to the controller for correction. At low frequencies, the error signal is provided by GPS. At higher frequencies, feedback is provided by the micromechanical gyros. This blending of sensors provides wide-band sensing from dc to operational frequencies. First order simulation has shown that the performance of existing micromechanical gyros, with integrated GPS, is feasible for a pointing mission of 10 micro-radians of jitter stability and approximately 1 milli-radian absolute error, for a satellite with 1 meter antenna separation. Improved performance micromechanical sensors currently under development will be suitable for a range of micro-nano-satellite applications.

Simulation-based evaluation of a cold atom interferometry gradiometer concept for gravity field recovery

NASA Astrophysics Data System (ADS)

Douch, Karim; Wu, Hu; Schubert, Christian; Müller, Jürgen; Pereira dos Santos, Franck

2018-03-01

The prospects of future satellite gravimetry missions to sustain a continuous and improved observation of the gravitational field have stimulated studies of new concepts of space inertial sensors with potentially improved precision and stability. This is in particular the case for cold-atom interferometry (CAI) gradiometry which is the object of this paper. The performance of a specific CAI gradiometer design is studied here in terms of quality of the recovered gravity field through a closed-loop numerical simulation of the measurement and processing workflow. First we show that mapping the time-variable field on a monthly basis would require a noise level below 5mE /√{Hz } . The mission scenarios are therefore focused on the static field, like GOCE. Second, the stringent requirement on the angular velocity of a one-arm gradiometer, which must not exceed 10-6 rad/s, leads to two possible modes of operation of the CAI gradiometer: the nadir and the quasi-inertial mode. In the nadir mode, which corresponds to the usual Earth-pointing satellite attitude, only the gradient Vyy , along the cross-track direction, is measured. In the quasi-inertial mode, the satellite attitude is approximately constant in the inertial reference frame and the 3 diagonal gradients Vxx,Vyy and Vzz are measured. Both modes are successively simulated for a 239 km altitude orbit and the error on the recovered gravity models eventually compared to GOCE solutions. We conclude that for the specific CAI gradiometer design assumed in this paper, only the quasi-inertial mode scenario would be able to significantly outperform GOCE results at the cost of technically challenging requirements on the orbit and attitude control.

Mars Aerobraking Spacecraft State Estimation by Processing Inertial Measurement Unit Data

NASA Technical Reports Server (NTRS)

Jah, Moriba K.; Lisano, Michael E.,, II; Born, George H.; Axelrad, Penina

2006-01-01

Aerobraking is an efficient technique for orbit adjustment of planetary spacecraft, such as Magellan (Venus), Mars Global Surveyor, and Mars Odyssey. Determination of the vehicle state during the aerobraking phase has conventionally been performed using only radiometric tracking data prior to and following the atmospheric drag pass. This approach is sufficiently accurate and timely to meet current mission operational requirements; however, it is expensive in terms of ground support and leads to delayed results because ofthe need for post-drag pass data. This research presents a new approach to estimation of the vehicle state during the atmospheric pass that sequentially incorporates observations from an Inertial Measurement Unit (IMU) and models of the vehicle and environment. The approach, called Inertial Measurements for Aerobraking Navigation (IMAN), is shown to perform at a level comparable to the conventional methods in terms of navigation accuracy and superior to them in terms of availability of the results immediately after completion ofthe pass. Furthermore, the research shows that IMAN can be used to reliably predict subsequent periapsis times and locations over all aerobraking regimes. IMAN also yields accurate peak dynamic pressure and heating rates, critical for a successful corridor control strategy, comparable to navigation team reconstructed values. This research also provides the first instance of the utilization of the Unscented Kalman Filter for the purpose of estimating an actual spacecraft trajectory arc about another planet.

Mars aerobraking spacecraft state estimation by processing inertial measurement unit data

NASA Astrophysics Data System (ADS)

Jah, Moriba Kemessia

Aerobraking is an efficient technique for orbit adjustment of planetary spacecraft such as Magellan (Venus), Mars Global Surveyor, and Mars Odyssey. Determination of the vehicle state during the Aerobraking phase has conventionally been performed using only radiometric tracking data prior to and following the atmospheric drag pass. This approach is sufficiently accurate and timely to meet current mission operational requirements; however, it is expensive in terms of ground support and leads to delayed results because of the need for post drag pass data. This dissertation presents a new approach to estimation of the vehicle state during the atmospheric pass that sequentially incorporates observations from an Inertial Measurement Unit (IMU) and models of the vehicle and environment. The approach, called Inertial Measurements for Aerobraking Navigation (IMAN), is shown to perform at a level comparable to the conventional methods in terms of navigation accuracy and superior to them in terms of availability of the results immediately after completion of the pass. Furthermore, the research shows that IMAN can be used to reliably predict subsequent periapsis times and locations over all aerobraking regimes. IMAN also yields accurate peak dynamic pressure and heating rates, critical for a successful corridor control strategy, comparable to navigation team reconstructed values. This research also provides the first instance of the utilization of the Unscented Kalman Filter for the purpose of estimating an actual spacecraft trajectory arc about another planet.

Assessment of modern smartphone sensors performance on vehicle localization in urban environments

NASA Astrophysics Data System (ADS)

Lazarou, Theodoros; Danezis, Chris

2017-09-01

The advent of Global Navigation Satellite Systems (GNSS) initiated a revolution in Positioning, Navigation and Timing (PNT) applications. Besides the enormous impact on geospatial data acquisition and reality capture, satellite navigation has penetrated everyday life, a fact which is proved by the increasing degree of human reliance on GNSS-enabled smart devices to perform casual activities. Nevertheless, GNSS does not perform well in all cases. Specifically, in GNSS-challenging environments, such as urban canyons or forested areas, navigation performance may be significantly degraded or even nullified. Consequently, positioning is achieved by combining GNSS with additional heterogeneous information or sensors, such as inertial sensors. To date, most smartphones are equipped with at least accelerometers and gyroscopes, besides GNSS chipsets. In the frame of this research, difficult localization scenarios were investigated to assess the performance of these low-cost inertial sensors with respect to higher grade GNSS and IMU systems. Four state-of-the-art smartphones were mounted on a specifically designed on-purpose build platform along with reference equipment. The platform was installed on top of a vehicle, which was driven by a predefined trajectory that included several GNSS-challenging parts. Consequently, positioning and inertial readings were acquired by smartphones and compared to the information collected by the reference equipment. The results indicated that although the smartphone GNSS receivers have increased sensitivity, they were unable to produce an acceptable solution for more than 30% of the driven course. However, all smartphones managed to identify, up to a satisfactory degree, distinct driving features, such as curves or bumps.

Indoor Smartphone Navigation Using a Combination of Wi-Fi and Inertial Navigation with Intelligent Checkpoints

NASA Astrophysics Data System (ADS)

Hofer, H.; Retscher, G.

2017-09-01

For Wi-Fi positioning location fingerprinting is one of the most commonly employed localization technique. To achieve an acceptable level of positioning accuracy on the few meter level, i.e., to provide at least room resolution in buildings, such an approach is very labour consuming as it requires a high density of reference points. Thus, the novel approach developed aims at a significant reduction of workload for the training phase. The basic idea is to intelligently choose waypoints along possible users' trajectories in the indoor environment. These waypoints are termed intelligent checkpoints (iCPs) and serve as reference points for the fingerprinting localization approach. They are selected along the trajectories in such a way that they define a logical sequence with their ascending order. Thereby, the iCPs are located, for instance, at doors at entrances to buildings, rooms, along corridors, etc., or in low density along the trajectory to provide a suitable absolute user localization. Continuous positioning between these iCPs is obtained with the help of the smartphones' inertial sensors. While walking along a selected trajectory to the destination a dynamic recognition of the iCPs is performed and the drift of the inertial sensors is reduced as the iCP recognition serves as absolute position update. Conducted experiments in a multi-storey office building have shown that positioning accuracy of around 2.0 m are achievable which goes along with a reduction of workload by three quarter using this novel approach. The iCP concept and performance are presented and demonstrated in this paper.

Development of an Inertial Measurement Unit for Unmanned Aerial Vehicles

DTIC Science & Technology

2011-02-01

Tri-axis accelerometers Dual Angular rate gyros Micro-Controller board Battery Rubber isolation stands wireless comunication module (XBee...University. Special thanks to Mr. Jesse McAvoy & Mr. Laith Sahawneh for all the support and valuable scientific contributions. gxk gyk gzk gxb

Use of a Light Uav and Photogrammetric Techniques to Study the Evolution of a Landslide in JAÉN (southern Spain)

NASA Astrophysics Data System (ADS)

Fernández, T.; Pérez, J. L.; Cardenal, F. J.; López, A.; Gómez, J. M.; Colomo, C.; Delgado, J.; Sánchez, M.

2015-08-01

This paper presents a methodology for slope instability monitoring using photogrammetric techniques with very high resolution images from an unmanned aerial vehicle (UAV). An unstable area located in La Guardia (Jaen, Southern Spain), where an active mud flow has been identified, was surveyed between 2012 and 2014 by means of four UAV flights. These surveys were also compared with those data from a previous conventional aerial photogrammetric and LiDAR survey. The UAV was an octocopter equipped with GPS, inertial units and a mirrorless interchangeable-lens camera. The flight height was 90 m, which allowed covering an area of about 250 x 100 m with a ground pixel size of 2.5 cm. The orientation of the UAV flights were carried out by means of ground control points measured with GPS, but the previous aerial photogrammetric/LiDAR flight was oriented by means of direct georeferencing with in flight positioning and inertial data, although some common ground control points were used to adjust all flights in the same reference system. The DSMs of all surveys were obtained by automatic image correlation and then the differential models were calculated, allowing estimate changes in the surface. At the same time, orthophotos were obtained so horizontal and vertical displacements between relevant points were registered. Significant displacements were observed between some campaigns (some centimeters on the vertical and meters on the horizontal). Finally, we have analyzed the relation of displacements to rainfalls in recent years in the area, finding a significant temporal correlation between the two variables.

Armed and Dangerous? UAVs and U.S. Security

DTIC Science & Technology

2014-01-01

MEMS] as inertial navigation units [INUs]. This technology is widely used in commercial products, such as toy helicopters and Wii controllers. The...aircraft? In conclusion, both the MTCR and Wassenaar Arrange- ment provide the United States with the flexibility and controls to be able to balance its...security and nonproliferation goals with respect to armed UAVs. Perhaps more problematic is whether the government interagency can strike a balance

MEMS SoC: observer-based coplanar gyro-free inertial measurement unit

NASA Astrophysics Data System (ADS)

Chen, Tsung-Lin; Park, Sungsu

2005-09-01

This paper presents a novel design of a coplanar gyro-free inertial measurement unit (IMU) that consists of seven to nine single-axis linear accelerometers, and it can be utilized to perform the six DOF measurements for an object in motion. Unlike other gyro-fee IMUs, this design uses redundant accelerometers and state estimation techniques to facilitate the in situ and mass fabrication for the employed accelerometers. The alignment error from positioning accelerometers onto a measurement unit and the fabrication cost of an IMU can greatly be reduced. The outputs of the proposed design are three linear accelerations and three angular velocities. As compared to other gyro-free IMUs, the proposed design uses less integral operation and thus improves its sensing resolution and drifting problem. The sensing resolution of a gyro-free IMU depends on the sensing resolution of the employed accelerometers as well as the size of the measurement unit. Simulation results indicate that the sensing resolution of the proposed design is 2° s-1 for the angular velocity and 10 μg for the linear acceleration when nine single-axis accelerometers, each with 10 μg sensing resolution, are deployed on a 4 inch diameter disc. Also, thanks to the iterative EKF algorithm, the angle estimation error is within 10-3 deg at 2 s.

Observing Migration and Burial of Unexploded Ordnance in the Nearshore Environment with Instrumented Surrogates

NASA Astrophysics Data System (ADS)

Bruder, B. L.; Cristaudo, D.; Puleo, J. A.

2016-12-01

Prior to 1972, it was legal and common practice to unload unexploded ordnance (UXO) into the ocean. Only 60-100 miles off the US coast alone there are 72 dumping sites where it is estimated 31 million pounds of UXO lie. As recently as 2015, UXO have been found not only in the nearshore environment, but on populated beaches. Thus, understanding the migration and burial of these objects is not only of oceanographic interest, but a matter of public safety. The presented project evaluates the efficacy of instrumented UXO surrogates for observing munition migration and burial. Instrumented surrogates were exposed to near prototype scale wave conditions over a mobile bed at the Littoral Warfare Environment at Aberdeen Test Center, MD. Surrogates were deployed in the swash zone, inner and outer surf zones. Dependent on munition size, surrogates housed multiple suites of self-logging sensors. Sensor suites included different combinations of inertial motion units, ultra-wideband tracking tags, pressure transducers, shock recorders, and photocells. Preliminary results show sensor suites can resolve various types of surrogate movement. Pressure transducers accurately record ambient wave conditions as well as changes in mean depth due to surrogate migration. Inertial motion units resolve munition accelerations for rolling and translational motion. Inertial motion unit data is used to estimate trajectory as well when coupled with mean depth and bathymetric data. Photocells, which measure ambient light, resolve munition burial as well as serve as proxies for surrounding environmental conditions such as suspended sediment and water depth. The presented project will continue to utilize and couple surrogate sensor data to resolve munition movement and burial under different conditions. Knowledge of munition migration helps focus UXO detection and recovery, conserving US military and coastal resources.

Machine learning algorithms based on signals from a single wearable inertial sensor can detect surface- and age-related differences in walking.

PubMed

Hu, B; Dixon, P C; Jacobs, J V; Dennerlein, J T; Schiffman, J M

2018-04-11

The aim of this study was to investigate if a machine learning algorithm utilizing triaxial accelerometer, gyroscope, and magnetometer data from an inertial motion unit (IMU) could detect surface- and age-related differences in walking. Seventeen older (71.5 ± 4.2 years) and eighteen young (27.0 ± 4.7 years) healthy adults walked over flat and uneven brick surfaces wearing an inertial measurement unit (IMU) over the L5 vertebra. IMU data were binned into smaller data segments using 4-s sliding windows with 1-s step lengths. Ninety percent of the data were used as training inputs and the remaining ten percent were saved for testing. A deep learning network with long short-term memory units was used for training (fully supervised), prediction, and implementation. Four models were trained using the following inputs: all nine channels from every sensor in the IMU (fully trained model), accelerometer signals alone, gyroscope signals alone, and magnetometer signals alone. The fully trained models for surface and age outperformed all other models (area under the receiver operator curve, AUC = 0.97 and 0.96, respectively; p ≤ .045). The fully trained models for surface and age had high accuracy (96.3, 94.7%), precision (96.4, 95.2%), recall (96.3, 94.7%), and f1-score (96.3, 94.6%). These results demonstrate that processing the signals of a single IMU device with machine-learning algorithms enables the detection of surface conditions and age-group status from an individual's walking behavior which, with further learning, may be utilized to facilitate identifying and intervening on fall risk. Copyright © 2018 Elsevier Ltd. All rights reserved.

An Initial Study of the Injection of an Intense Relativistic Electron Beam into the Atmosphere.

DTIC Science & Technology

1981-03-04

resolved spectroscopy , thermoluminescent x-ray detectors ( TLDs ), and Schlieren photography. The freely propagating electron beam produced a luminous region...atmosphere and its detection with a TLD ...................................... 17 VIII. REFERENCES...atmospheric even though such stu- dies have application in a number of important areas of research including electron beam sustained lasers , 9 inertial

Capillary Flows Along Open Channel Conduits: The Open-Star Section

NASA Technical Reports Server (NTRS)

Weislogel, Mark; Geile, John; Chen, Yongkang; Nguyen, Thanh Tung; Callahan, Michael

2014-01-01

Capillary rise in tubes, channels, and grooves has received significant attention in the literature for over 100 years. In yet another incremental extension of such work, a transient capillary rise problem is solved for spontaneous flow along an interconnected array of open channels forming what is referred to as an 'open-star' section. This geometry possesses several attractive characteristics including passive phase separations and high diffusive gas transport. Despite the complex geometry, novel and convenient approximations for capillary pressure and viscous resistance enable closed form predictions of the flow. As part of the solution, a combined scaling approach is applied that identifies unsteady-inertial-capillary, convective-inertial-capillary, and visco-capillary transient regimes in a single parameter. Drop tower experiments are performed employing 3-D printed conduits to corroborate all findings.

Determination of Phobos' rotational parameters by an inertial frame bundle block adjustment

NASA Astrophysics Data System (ADS)

Burmeister, Steffi; Willner, Konrad; Schmidt, Valentina; Oberst, Jürgen

2018-01-01

A functional model for a bundle block adjustment in the inertial reference frame was developed, implemented and tested. This approach enables the determination of rotation parameters of planetary bodies on the basis of photogrammetric observations. Tests with a self-consistent synthetic data set showed that the implementation converges reliably toward the expected values of the introduced unknown parameters of the adjustment, e.g., spin pole orientation, and that it can cope with typical observational errors in the data. We applied the model to a data set of Phobos using images from the Mars Express and the Viking mission. With Phobos being in a locked rotation, we computed a forced libration amplitude of 1.14^circ ± 0.03^circ together with a control point network of 685 points.

Reference coordinate systems: An update. Supplement 11

NASA Technical Reports Server (NTRS)

Mueller, Ivan I.

1988-01-01

A common requirement for all geodetic investigations is a well-defined coordinate system attached to the earth in some prescribed way, as well as a well-defined inertial coordinate system in which the motions of the terrestrial frame can be monitored. The paper deals with the problems encountered when establishing such coordinate systems and the transformations between them. In addition, problems related to the modeling of the deformable earth are discussed. This paper is an updated version of the earlier work, Reference Coordinate Systems for Earth Dynamics: A Preview, by the author.

Two Axis Pointing System (TAPS) attitude acquisition, determination, and control

NASA Technical Reports Server (NTRS)

Azzolini, John D.; Mcglew, David E.

1990-01-01

The Two Axis Pointing System (TAPS) is a 2 axis gimbal system designed to provide fine pointing of Space Transportation System (STS) borne instruments. It features center-of-mass instrument mounting and will accommodate instruments of up to 1134 kg (2500 pounds) which fit within a 1.0 by 1.0 by 4.2 meter (40 by 40 by 166 inch) envelope. The TAPS system is controlled by a microcomputer based Control Electronics Assembly (CEA), a Power Distribution Unit (PDU), and a Servo Control Unit (SCU). A DRIRU-II inertial reference unit is used to provide incremental angles for attitude propagation. A Ball Brothers STRAP star tracker is used for attitude acquisition and update. The theory of the TAPS attitude determination and error computation for the Broad Band X-ray Telescope (BBXRT) are described. The attitude acquisition is based upon a 2 star geometric solution. The acquisition theory and quaternion algebra are presented. The attitude control combines classical position, integral and derivative (PID) control with techniques to compensate for coulomb friction (bias torque) and the cable harness crossing the gimbals (spring torque). Also presented is a technique for an adaptive bias torque compensation which adjusts to an ever changing frictional torque environment. The control stability margins are detailed, with the predicted pointing performance, based upon simulation studies. The TAPS user interface, which provides high level operations commands to facilitate science observations, is outlined.

Design of an Inertial-Sensor-Based Data Glove for Hand Function Evaluation.

PubMed

Lin, Bor-Shing; Lee, I-Jung; Yang, Shu-Yu; Lo, Yi-Chiang; Lee, Junghsi; Chen, Jean-Lon

2018-05-13

Capturing hand motions for hand function evaluations is essential in the medical field. Various data gloves have been developed for rehabilitation and manual dexterity assessments. This study proposed a modular data glove with 9-axis inertial measurement units (IMUs) to obtain static and dynamic parameters during hand function evaluation. A sensor fusion algorithm is used to calculate the range of motion of joints. The data glove is designed to have low cost, easy wearability, and high reliability. Owing to the modular design, the IMU board is independent and extensible and can be used with various microcontrollers to realize more medical applications. This design greatly enhances the stability and maintainability of the glove.

The Attitude Control System for the Wilkinson Microwave Anisotropy Probe

NASA Technical Reports Server (NTRS)

Markley, F. Landis; Andrews, Stephen F.; ODonnell, James R., Jr.; Ward, David K.

2003-01-01

The Wilkinson Microwave Anisotropy Probe mission produces a map of the cosmic microwave background radiation over the entire celestial sphere by executing a fast spin and a slow precession of its spin axis about the Sun line to obtain a highly interconnected set of measurements. The spacecraft attitude is sensed and controlled using an inertial reference unit, two star trackers, a digital sun sensor, twelve coarse sun sensors, three reaction wheel assemblies, and a propulsion system. Sufficient attitude knowledge is provided to yield instrument pointing to a standard deviation (l sigma) of 1.3 arc-minutes per axis. In addition, the spacecraft acquires and holds the sunline at initial acquisition and in the event of a failure, and slews to the proper orbit adjust orientations and to the proper off-sunline attitude to start the compound spin. This paper presents an overview of the design of the attitude control system to carry out this mission and presents some early flight experience.

PhoneSat: Ground Testing of a Phone-Based Prototype Bus

NASA Technical Reports Server (NTRS)

Felix, Carmen; Howard, Benjamin; Reyes, Matthew; Snarskiy, Fedor; Hickman, Ryan; Boshuizen, Christopher; Marshall, William

2010-01-01

Most of the key capabilities that are requisite of a satellite bus are housed in today's smart phones. PhoneSat refers to an initiative to build a ground-based prototype vehicle that could all the basic functionality of a satellite, including attitude control, using a smart Phone as its central hardware. All components used were also low cost Commercial off the Shelf (COTS). In summer 2009, an initial prototype was created using the LEGO Mindstorm toolkit demonstrating simple attitude control. Here we report on a follow up initiative to design, build and test a vehicle based on the Google s smart phone Nexus One. The report includes results from initial thermal-vacuum chamber tests and low altitude sub-orbital rocket flights which show that, at least for short durations, the Nexus One phone is able to withstand key aspects of the space environment without failure. We compare the sensor data from the Phone's accelerometers and magnetometers with that of an external microelectronic inertial measurement unit.

Tuning the Solar Dynamics Observatory Onboard Kalman Filter

NASA Technical Reports Server (NTRS)

Halverson, Julie Kay; Harman, Rick; Carpenter, Russell; Poland, Devin

2017-01-01

The Solar Dynamics Observatory (SDO) was launched in 2010. SDO is a sun pointing semi-autonomous spacecraft in a geosynchronous orbit that allows nearly continuous observations of the sun. SDO is equipped with coarse sun sensors, two star trackers, a digital sun sensor, and three two-axis inertial reference units (IRU). The IRUs are temperature sensitive and were designed to operate in a stable thermal environment. Due to battery degradation concerns the IRU heaters were not used on SDO and the onboard filter was tuned to accommodate the noisier IRU data. Since launch currents have increased on two IRUs, one had to eventually be powered off. Recent ground tests on a battery similar to SDO indicated the heaters would have negligible impact on battery degradation, so in 2016 a decision was made to turn the heaters on. This paper presents the analysis and results of updating the filter tuning parameters onboard SDO with the IRUs now operating in their intended thermal environment.

In-Flight Characterization of the Electromagnetic Environment Inside an Airliner

NASA Technical Reports Server (NTRS)

Moeller, Karl J.; Dudley, Kenneth L.; Quach, Cuong C.; Koppen, Sandra V.

2001-01-01

In 1995, the NASA Langley Research Center conducted a series of experimental measurements that characterized the electromagnetic environment (EME) inside a Boeing 757 airliner while in flight, Measurements were made of the electromagnetic energy coupled into a commercially configured aircraft as it was flown in close proximity to ground-based radio frequency (RF) transmitters operating at approximately 26, 173. and 430 MHz. The goal of this experiment was to collect data for the verification of analytical predictions of the internal aircraft response to an external stimulus. This paper describes the experiment, presents the data collected by it, and discusses techniques used to compute both the magnitude of the electric field illuminating the aircraft and its direction of propagation relative to a coordinate system fixed to the aircraft. The latter is determined from Global Positioning System (GPS) and aircraft Inertial Reference Unit (IRU) data. The paper concludes with an examination of the shielding effectiveness of the test aircraft. as determined by comparison of' the measured internal EME and computed external EME.

Project Physics Handbook 1, Concepts of Motion.

ERIC Educational Resources Information Center

Harvard Univ., Cambridge, MA. Harvard Project Physics.

Thirteen experiments and 15 activities are presented in this unit handbook for student use. The experiment sections are concerned with naked-eye observation in astronomy, regularity and time, variations in data, uniform motion, gravitational acceleration, Galileo's experiments, Netson's laws, inertial and gravitational mass, trajectories, and…

Next Generation Vehicle Positioning and Simulation Solutions : Using GPS and Advanced Simulation Tools to Improve Highway Safety

DOT National Transportation Integrated Search

2013-06-03

"Integrated Global Positioning System and Inertial Navigation Unit (GPS/INU) Simulator for Enhanced Traffic Safety," is a project awarded to Ohio State University to integrate different simulation models to accurately study the relationship between v...

Application of Mobile Laser Scanning for Lean and Rapid Highway Maintenance and Construction

DOT National Transportation Integrated Search

2015-08-28

Mobile Terrestrial Laser Scanning (MTLS) is an emerging technology that combines the use of a laser scanner(s), the Global Navigation Satellite System (GNSS), and an Inertial Measurement Unit (IMU) on a vehicle to collect geo-spatial data. The overal...

Cryogenic hydrogen fuel for controlled inertial confinement fusion (formation of reactor-scale cryogenic targets)

DOE Office of Scientific and Technical Information (OSTI.GOV)

Aleksandrova, I. V.; Koresheva, E. R., E-mail: elena.koresheva@gmail.com; Krokhin, O. N.

2016-12-15

In inertial fusion energy research, considerable attention has recently been focused on low-cost fabrication of a large number of targets by developing a specialized layering module of repeatable operation. The targets must be free-standing, or unmounted. Therefore, the development of a target factory for inertial confinement fusion (ICF) is based on methods that can ensure a cost-effective target production with high repeatability. Minimization of the amount of tritium (i.e., minimization of time and space at all production stages) is a necessary condition as well. Additionally, the cryogenic hydrogen fuel inside the targets must have a structure (ultrafine layers—the grain sizemore » should be scaled back to the nanometer range) that supports the fuel layer survivability under target injection and transport through the reactor chamber. To meet the above requirements, significant progress has been made at the Lebedev Physical Institute (LPI) in the technology developed on the basis of rapid fuel layering inside moving free-standing targets (FST), also referred to as the FST layering method. Owing to the research carried out at LPI, unique experience has been gained in the development of the FST-layering module for target fabrication with an ultrafine fuel layer, including a reactor- scale target design. This experience can be used for the development of the next-generation FST-layering module for construction of a prototype of a target factory for power laser facilities and inertial fusion power plants.« less

Einstein's Elevator in Class: A Self-Construction by Students for the Study of the Equivalence Principle

NASA Astrophysics Data System (ADS)

Kapotis, Efstratios; Kalkanis, George

2016-10-01

According to the principle of equivalence, it is impossible to distinguish between gravity and inertial forces that a noninertial observer experiences in his own frame of reference. For example, let's consider an elevator in space that is being accelerated in one direction. An observer inside it would feel as if there was gravity force pulling him toward the opposite direction. The same holds for a person in a stationary elevator located in Earth's gravitational field. No experiment enables us to distinguish between the accelerating elevator in space and the motionless elevator near Earth's surface. Strictly speaking, when the gravitational field is non-uniform (like Earth's), the equivalence principle holds only for experiments in elevators that are small enough and that take place over a short enough period of time (Fig. 1). However, performing an experiment in an elevator in space is impractical. On the other hand, it is easy to combine both forces on the same observer, i.e., gravity and a fictitious inertial force due to acceleration. Imagine an observer in an elevator that falls freely within Earth's gravitational field. The observer experiences gravity pulling him down while it might be said that the inertial force due to gravity acceleration g pulls him up. Gravity and inertial force cancel each other, (mis)leading the observer to believe there is no gravitational field. This study outlines our implementation of a self-construction idea that we have found useful in teaching introductory physics students (undergraduate, non-majors).

Gait-force model and inertial measurement unit-based measurements: A new approach for gait analysis and balance monitoring.

PubMed

Li, Xinan; Xu, Hongyuan; Cheung, Jeffrey T

2016-12-01

This work describes a new approach for gait analysis and balance measurement. It uses an inertial measurement unit (IMU) that can either be embedded inside a dynamically unstable platform for balance measurement or mounted on the lower back of a human participant for gait analysis. The acceleration data along three Cartesian coordinates is analyzed by the gait-force model to extract bio-mechanics information in both the dynamic state as in the gait analyzer and the steady state as in the balance scale. For the gait analyzer, the simple, noninvasive and versatile approach makes it appealing to a broad range of applications in clinical diagnosis, rehabilitation monitoring, athletic training, sport-apparel design, and many other areas. For the balance scale, it provides a portable platform to measure the postural deviation and the balance index under visual or vestibular sensory input conditions. Despite its simple construction and operation, excellent agreement has been demonstrated between its performance and the high-cost commercial balance unit over a wide dynamic range. The portable balance scale is an ideal tool for routine monitoring of balance index, fall-risk assessment, and other balance-related health issues for both clinical and household use.

An IMU Evaluation Method Using a Signal Grafting Scheme

PubMed Central

Niu, Xiaoji; Wang, Qiang; Li, You; Zhang, Quan; Jiang, Peng

2016-01-01

As various inertial measurement units (IMUs) from different manufacturers appear every year, it is not affordable to evaluate every IMU through tests. Therefore, this paper presents an IMU evaluation method by grafting data from the tested IMU to the reference data from a higher-grade IMU. The signal grafting (SG) method has several benefits: (a) only one set of field tests with a higher-grade IMU is needed, and can be used to evaluate numerous IMUs. Thus, SG is effective and economic because all data from the tested IMU is collected in the lab; (b) it is a general approach to compare navigation performances of various IMUs by using the same reference data; and, finally, (c) through SG, one can first evaluate an IMU in the lab, and then decide whether to further test it. Moreover, this paper verified the validity of SG to both medium- and low-grade IMUs, and presents and compared two SG strategies, i.e., the basic-error strategy and the full-error strategy. SG provided results similar to field tests, with a difference of under 5% and 19.4%–26.7% for tested tactical-grade and MEMS IMUs. Meanwhile, it was found that dynamic IMU errors were essential to guarantee the effect of the SG method. PMID:27294932

Light Detection and Ranging-Based Terrain Navigation: A Concept Exploration

NASA Technical Reports Server (NTRS)

Campbell, Jacob; UijtdeHaag, Maarten; vanGraas, Frank; Young, Steve

2003-01-01

This paper discusses the use of Airborne Light Detection And Ranging (LiDAR) equipment for terrain navigation. Airborne LiDAR is a relatively new technology used primarily by the geo-spatial mapping community to produce highly accurate and dense terrain elevation maps. In this paper, the term LiDAR refers to a scanning laser ranger rigidly mounted to an aircraft, as opposed to an integrated sensor system that consists of a scanning laser ranger integrated with Global Positioning System (GPS) and Inertial Measurement Unit (IMU) data. Data from the laser range scanner and IMU will be integrated with a terrain database to estimate the aircraft position and data from the laser range scanner will be integrated with GPS to estimate the aircraft attitude. LiDAR data was collected using NASA Dryden's DC-8 flying laboratory in Reno, NV and was used to test the proposed terrain navigation system. The results of LiDAR-based terrain navigation shown in this paper indicate that airborne LiDAR is a viable technology enabler for fully autonomous aircraft navigation. The navigation performance is highly dependent on the quality of the terrain databases used for positioning and therefore high-resolution (2 m post-spacing) data was used as the terrain reference.

Evaluation of inertial cavitation activity in tissue through measurement of oxidative stress.

PubMed

Prieur, Fabrice; Pialoux, Vincent; Mestas, Jean-Louis; Mury, Pauline; Skinner, Sarah; Lafon, Cyril

2015-09-01

Ultrasound cavitation is an essential mechanism involved in the therapeutic local enhancement of drug delivery by ultrasound for cancer treatment. Inertial cavitation also triggers chemical reactions that generate free radicals and subsequent oxidative stress in the tissue. The aim of this study was to measure the oxidative stress induced by inertial cavitation in ex vivo tissue and to test the association between the exposure conditions and the oxidative stress. A confocal ultrasound setup was used to sonicate and create inertial cavitation in freshly excised adipose pig tissue. The ex vivo tissue samples were then processed to measure the quantity of malondialdehyde (MDA), an end-product of polyunsaturated free fatty acid oxidation. The creation of hydroxyterephthalic acid (HTA) from the reaction of terephthalic acid (TA) with free radicals in water was also quantified in vitro. Samples were sonicated for different durations using various amplitudes for the applied pressure. The results showed a minimum 2-fold increase in the amount of detected MDA in the sonicated tissue samples compared to baseline clearly suggesting the generation of free radicals by inertial cavitation. The method exhibited a moderate dependence of MDA generated upon the duration of exposure (R(2)=057,p<0.0001). The average increase in MDA concentration was approximately 2-fold, 5-fold, 6-fold, and 9-fold for exposure durations per unit of volume of 0.13, 0.17, 0.25, and 0.50s/mm(3), respectively. The results showed no statistically significant dependence on the amplitude of the pressure within the used range. Both pressure amplitude and exposure duration, however, influenced the HTA concentration (R(2)>0.95,p<0.0001). This biochemical method can be used on ex vivo tissue to detect the generation of free radicals induced by inertial cavitation. In large enough sample populations, the cavitation activity is linked to the exposure conditions of the sonication. Copyright © 2015 Elsevier B.V. All rights reserved.

Wearable Inertial Sensors Allow for Quantitative Assessment of Shoulder and Elbow Kinematics in a Cadaveric Knee Arthroscopy Model.

PubMed

Rose, Michael; Curtze, Carolin; O'Sullivan, Joseph; El-Gohary, Mahmoud; Crawford, Dennis; Friess, Darin; Brady, Jacqueline M

2017-12-01

To develop a model using wearable inertial sensors to assess the performance of orthopaedic residents while performing a diagnostic knee arthroscopy. Fourteen subjects performed a diagnostic arthroscopy on a cadaveric right knee. Participants were divided into novices (5 postgraduate year 3 residents), intermediates (5 postgraduate year 4 residents), and experts (4 faculty) based on experience. Arm movement data were collected by inertial measurement units (Opal sensors) by securing 2 sensors to each upper extremity (dorsal forearm and lateral arm) and 2 sensors to the trunk (sternum and lumbar spine). Kinematics of the elbow and shoulder joints were calculated from the inertial data by biomechanical modeling based on a sequence of links connected by joints. Range of motion required to complete the procedure was calculated for each group. Histograms were used to compare the distribution of joint positions for an expert, intermediate, and novice. For both the right and left upper extremities, skill level corresponded well with shoulder abduction-adduction and elbow prono-supination. Novices required on average 17.2° more motion in the right shoulder abduction-adduction plane than experts to complete the diagnostic arthroscopy (P = .03). For right elbow prono-supination (probe hand), novices required on average 23.7° more motion than experts to complete the procedure (P = .03). Histogram data showed novices had markedly more variability in shoulder abduction-adduction and elbow prono-supination compared with the other groups. Our data show wearable inertial sensors can measure joint kinematics during diagnostic knee arthroscopy. Range-of-motion data in the shoulder and elbow correlated inversely with arthroscopic experience. Motion pattern-based analysis shows promise as a metric of resident skill acquisition and development in arthroscopy. Wearable inertial sensors show promise as metrics of arthroscopic skill acquisition among residents. Copyright © 2017 Arthroscopy Association of North America. Published by Elsevier Inc. All rights reserved.

Inertial instabilities in a mixing-separating microfluidic device

NASA Astrophysics Data System (ADS)

Domingues, Allysson; Poole, Robert; Dennis, David

2017-11-01

Combining and separating fluids has many industrial and biomedical applications. This numerical and experimental study explores inertial instabilities in a so-called mixing-separating cell micro-geometry which could potentiality be used to enhance mixing. Our microfluidic mixing-separating cell consists of two straight square parallel channels with flow from opposite directions with a central gap that allows the streams to interact, mix or remain separate (often referred to as the `H' geometry). A stagnation point is generated at the centre of symmetry due to the two opposed inlets and outlets. Under creeping flow conditions (Reynolds number [ Re 0 ]) the flow is steady, two-dimensional and produces a sharp symmetric boundary between fluids stream entering the geometry from opposite directions. For Re > 30 , an inertial instability appears which leads to the generation of a central vortex and the breaking of symmetry, although the flow remains steady. As Re increases the central vortex divides into two vortices. Our experimental and numerical investigations both show the same phenomena. The results suggest that the effect observed can be exploited to enhance mixing in biomedical or other applications. Work supported by CNPq Grant 203195/2014-0.

The initial regime of drop coalescence

NASA Astrophysics Data System (ADS)

Anthony, Christopher; Harris, Michael; Basaran, Osman

2017-11-01

Drop coalescence plays a key role in both industry and nature. Consequently, study of the phenomenon has been the focus of numerous experimental, computational and theoretical works to date. In coalescence, two drops come into contact and a liquid bridge forms between them. As time advances, this bridge grows from microscopic to macroscopic scales. Despite the large volume of work dedicated to this problem, currently experiment, theory, and computation are not in perfect agreement with respect to the earliest times following the initial contact of the drops. Experiments report an initial regime where the radius of the connecting bridge grows linearly in time before a transition to either a Stokes regime or an inertial regime where either viscous or inertial forces balance capillary force. In the initial linear regime, referred to as the inertially-limited viscous regime, all three forces are thought to be important. This is in contrast to theory which predicts that all coalescence events begin in the Stokes regime. We use high accuracy numerical simulation to show that the existing discrepancy in the literature can be resolved by paying careful attention to the initial conditions that set the shape and size of the bridge connecting the two drops.

Innovative use of global navigation satellite systems for flight inspection

NASA Astrophysics Data System (ADS)

Kim, Eui-Ho

The International Civil Aviation Organization (ICAO) mandates flight inspection in every country to provide safety during flight operations. Among many criteria of flight inspection, airborne inspection of Instrument Landing Systems (ILS) is very important because the ILS is the primary landing guidance system worldwide. During flight inspection of the ILS, accuracy in ILS landing guidance is checked by using a Flight Inspection System (FIS). Therefore, a flight inspection system must have high accuracy in its positioning capability to detect any deviation so that accurate guidance of the ILS can be maintained. Currently, there are two Automated Flight Inspection Systems (AFIS). One is called Inertial-based AFIS, and the other one is called Differential GPS-based (DGPS-based) AFIS. The Inertial-based AFIS enables efficient flight inspection procedures, but its drawback is high cost because it requires a navigation-grade Inertial Navigation System (INS). On the other hand, the DGPS-based AFIS has relatively low cost, but flight inspection procedures require landing and setting up a reference receiver. Most countries use either one of the systems based on their own preferences. There are around 1200 ILS in the U.S., and each ILS must be inspected every 6 to 9 months. Therefore, it is important to manage the airborne inspection of the ILS in a very efficient manner. For this reason, the Federal Aviation Administration (FAA) mainly uses the Inertial-based AFIS, which has better efficiency than the DGPS-based AFIS in spite of its high cost. Obviously, the FAA spends tremendous resources on flight inspection. This thesis investigates the value of GPS and the FAA's augmentation to GPS for civil aviation called the Wide Area Augmentation System (or WAAS) for flight inspection. Because standard GPS or WAAS position outputs cannot meet the required accuracy for flight inspection, in this thesis, various algorithms are developed to improve the positioning ability of Flight Inspection Systems (FIS) by using GPS and WAAS in novel manners. The algorithms include Adaptive Carrier Smoothing (ACS), optimizing WAAS accuracy and stability, and reference point-based precise relative positioning for real-time and near-real-time applications. The developed systems are WAAS-aided FIS, WAAS-based FIS, and stand-alone GPS-based FIS. These systems offer both high efficiency and low cost, and they have different advantages over one another in terms of accuracy, integrity, and worldwide availability. The performance of each system is tested with experimental flight test data and shown to have accuracy that is sufficient for flight inspection and superior to the current Inertial-based AFIS.

Preface to special topic: High-energy density laboratory astrophysics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Glenzer, Siegfried H

Here, in the 1990s, when the large inertial confinement fusion facilities in the United States became accessible for discovery-class research, physicists soon realized that the combination of these energetic drivers with precision plasmas diagnostics would allow the unprecedented experimental study of astrophysical problems.

Preface to special topic: High-energy density laboratory astrophysics

DOE PAGES

Glenzer, Siegfried H

2017-04-11

Here, in the 1990s, when the large inertial confinement fusion facilities in the United States became accessible for discovery-class research, physicists soon realized that the combination of these energetic drivers with precision plasmas diagnostics would allow the unprecedented experimental study of astrophysical problems.

Unmanned aircraft missions for rangeland remote sensing applications in the US National Airspace

USDA-ARS?s Scientific Manuscript database

In recent years, civilian applications of unmanned aerial systems (UAS) have increased considerably due to their greater availability and the miniaturization of sensors, GPS, inertial measurement units, and other hardware. UAS are well suited for rangeland remote sensing applications, because of the...

System and method for calibrating inter-star-tracker misalignments in a stellar inertial attitude determination system

NASA Technical Reports Server (NTRS)

Li, Rongsheng (Inventor); Wu, Yeong-Wei Andy (Inventor); Hein, Douglas H. (Inventor)

2004-01-01

A method and apparatus for determining star tracker misalignments is disclosed. The method comprises the steps of defining a defining a reference frame for the star tracker assembly according to a boresight of the primary star tracker and a boresight of a second star tracker wherein the boresight of the primary star tracker and a plane spanned by the boresight of the primary star tracker and the boresight of the second star tracker at least partially define a datum for the reference frame for the star tracker assembly; and determining the misalignment of the at least one star tracker as a rotation of the defined reference frame.

Einstein's Elevator in Class: A Self-Construction by Students for the Study of the Equival

ERIC Educational Resources Information Center

Kapotis, Efstratios; Kalkanis, George

2016-01-01

According to the principle of equivalence, it is impossible to distinguish between gravity and inertial forces that a noninertial observer experiences in his own frame of reference. For example, let's consider an elevator in space that is being accelerated in one direction. An observer inside it would feel as if there was gravity force pulling him…

Deeply-Integrated Feature Tracking for Embedded Navigation

DTIC Science & Technology

2009-03-01

metric would result in increased feature strength, but a decrease in repeatability. The feature spacing also helped with repeatability of strong...locations in the second frame. This relationship is a constraint of projective geometry and states that the cross product of a point with itself (when...integrated refers to the incorporation of inertial information into the image processing, rather than just

Video-Game-Like Engine for Depicting Spacecraft Trajectories

NASA Technical Reports Server (NTRS)

Upchurch, Paul R.

2009-01-01

GoView is a video-game-like software engine, written in the C and C++ computing languages, that enables real-time, three-dimensional (3D)-appearing visual representation of spacecraft and trajectories (1) from any perspective; (2) at any spatial scale from spacecraft to Solar-system dimensions; (3) in user-selectable time scales; (4) in the past, present, and/or future; (5) with varying speeds; and (6) forward or backward in time. GoView constructs an interactive 3D world by use of spacecraft-mission data from pre-existing engineering software tools. GoView can also be used to produce distributable application programs for depicting NASA orbital missions on personal computers running the Windows XP, Mac OsX, and Linux operating systems. GoView enables seamless rendering of Cartesian coordinate spaces with programmable graphics hardware, whereas prior programs for depicting spacecraft trajectories variously require non-Cartesian coordinates and/or are not compatible with programmable hardware. GoView incorporates an algorithm for nonlinear interpolation between arbitrary reference frames, whereas the prior programs are restricted to special classes of inertial and non-inertial reference frames. Finally, whereas the prior programs present complex user interfaces requiring hours of training, the GoView interface provides guidance, enabling use without any training.

3D gait assessment in young and elderly subjects using foot-worn inertial sensors.

PubMed

Mariani, Benoit; Hoskovec, Constanze; Rochat, Stephane; Büla, Christophe; Penders, Julien; Aminian, Kamiar

2010-11-16

This study describes the validation of a new wearable system for assessment of 3D spatial parameters of gait. The new method is based on the detection of temporal parameters, coupled to optimized fusion and de-drifted integration of inertial signals. Composed of two wirelesses inertial modules attached on feet, the system provides stride length, stride velocity, foot clearance, and turning angle parameters at each gait cycle, based on the computation of 3D foot kinematics. Accuracy and precision of the proposed system were compared to an optical motion capture system as reference. Its repeatability across measurements (test-retest reliability) was also evaluated. Measurements were performed in 10 young (mean age 26.1±2.8 years) and 10 elderly volunteers (mean age 71.6±4.6 years) who were asked to perform U-shaped and 8-shaped walking trials, and then a 6-min walking test (6MWT). A total of 974 gait cycles were used to compare gait parameters with the reference system. Mean accuracy±precision was 1.5±6.8cm for stride length, 1.4±5.6cm/s for stride velocity, 1.9±2.0cm for foot clearance, and 1.6±6.1° for turning angle. Difference in gait performance was observed between young and elderly volunteers during the 6MWT particularly in foot clearance. The proposed method allows to analyze various aspects of gait, including turns, gait initiation and termination, or inter-cycle variability. The system is lightweight, easy to wear and use, and suitable for clinical application requiring objective evaluation of gait outside of the lab environment. Copyright © 2010 Elsevier Ltd. All rights reserved.

Self-Alignment MEMS IMU Method Based on the Rotation Modulation Technique on a Swing Base

PubMed Central

Chen, Zhiyong; Yang, Haotian; Wang, Chengbin; Lin, Zhihui; Guo, Meifeng

2018-01-01

The micro-electro-mechanical-system (MEMS) inertial measurement unit (IMU) has been widely used in the field of inertial navigation due to its small size, low cost, and light weight, but aligning MEMS IMUs remains a challenge for researchers. MEMS IMUs have been conventionally aligned on a static base, requiring other sensors, such as magnetometers or satellites, to provide auxiliary information, which limits its application range to some extent. Therefore, improving the alignment accuracy of MEMS IMU as much as possible under swing conditions is of considerable value. This paper proposes an alignment method based on the rotation modulation technique (RMT), which is completely self-aligned, unlike the existing alignment techniques. The effect of the inertial sensor errors is mitigated by rotating the IMU. Then, inertial frame-based alignment using the rotation modulation technique (RMT-IFBA) achieved coarse alignment on the swing base. The strong tracking filter (STF) further improved the alignment accuracy. The performance of the proposed method was validated with a physical experiment, and the results of the alignment showed that the standard deviations of pitch, roll, and heading angle were 0.0140°, 0.0097°, and 0.91°, respectively, which verified the practicality and efficacy of the proposed method for the self-alignment of the MEMS IMU on a swing base. PMID:29649150

Continuous and scalable polymer capsule processing for inertial fusion energy target shell fabrication using droplet microfluidics.

PubMed

Li, Jin; Lindley-Start, Jack; Porch, Adrian; Barrow, David

2017-07-24

High specification, polymer capsules, to produce inertial fusion energy targets, were continuously fabricated using surfactant-free, inertial centralisation, and ultrafast polymerisation, in a scalable flow reactor. Laser-driven, inertial confinement fusion depends upon the interaction of high-energy lasers and hydrogen isotopes, contained within small, spherical and concentric target shells, causing a nuclear fusion reaction at ~150 M°C. Potentially, targets will be consumed at ~1 M per day per reactor, demanding a 5000x unit cost reduction to ~$0.20, and is a critical, key challenge. Experimentally, double emulsions were used as templates for capsule-shells, and were formed at 20 Hz, on a fluidic chip. Droplets were centralised in a dynamic flow, and their shapes both evaluated, and mathematically modeled, before subsequent shell solidification. The shells were photo-cured individually, on-the-fly, with precisely-actuated, millisecond-length (70 ms), uniform-intensity UV pulses, delivered through eight, radially orchestrated light-pipes. The near 100% yield rate of uniform shells had a minimum 99.0% concentricity and sphericity, and the solidification processing period was significantly reduced, over conventional batch methods. The data suggest the new possibility of a continuous, on-the-fly, IFE target fabrication process, employing sequential processing operations within a continuous enclosed duct system, which may include cryogenic fuel-filling, and shell curing, to produce ready-to-use IFE targets.

High-Precision Image Aided Inertial Navigation with Known Features: Observability Analysis and Performance Evaluation

PubMed Central

Jiang, Weiping; Wang, Li; Niu, Xiaoji; Zhang, Quan; Zhang, Hui; Tang, Min; Hu, Xiangyun

2014-01-01

A high-precision image-aided inertial navigation system (INS) is proposed as an alternative to the carrier-phase-based differential Global Navigation Satellite Systems (CDGNSSs) when satellite-based navigation systems are unavailable. In this paper, the image/INS integrated algorithm is modeled by a tightly-coupled iterative extended Kalman filter (IEKF). Tightly-coupled integration ensures that the integrated system is reliable, even if few known feature points (i.e., less than three) are observed in the images. A new global observability analysis of this tightly-coupled integration is presented to guarantee that the system is observable under the necessary conditions. The analysis conclusions were verified by simulations and field tests. The field tests also indicate that high-precision position (centimeter-level) and attitude (half-degree-level)-integrated solutions can be achieved in a global reference. PMID:25330046

Nonlinear dynamic analysis of flexible multibody systems

NASA Technical Reports Server (NTRS)

Bauchau, Olivier A.; Kang, Nam Kook

1991-01-01

Two approaches are developed to analyze the dynamic behavior of flexible multibody systems. In the first approach each body is modeled with a modal methodology in a local non-inertial frame of reference, whereas in the second approach, each body is modeled with a finite element methodology in the inertial frame. In both cases, the interaction among the various elastic bodies is represented by constraint equations. The two approaches were compared for accuracy and efficiency: the first approach is preferable when the nonlinearities are not too strong but it becomes cumbersome and expensive to use when many modes must be used. The second approach is more general and easier to implement but could result in high computation costs for a large system. The constraints should be enforced in a time derivative fashion for better accuracy and stability.

Inertial modes and their transition to turbulence in a differentially rotating spherical gap flow

NASA Astrophysics Data System (ADS)

Hoff, Michael; Harlander, Uwe; Andrés Triana, Santiago; Egbers, Christoph

2016-04-01

We present a study of inertial modes in a spherical shell experiment. Inertial modes are Coriolis-restored linear wave modes, often arise in rapidly-rotating fluids (e.g. in the Earth's liquid outer core [1]). Recent experimental works showed that inertial modes exist in differentially rotating spherical shells. A set of particular inertial modes, characterized by (l,m,ˆω), where l, m is the polar and azimuthal wavenumber and ˆω = ω/Ωout the dimensionless frequency [2], has been found. It is known that they arise due to eruptions in the Ekman boundary layer of the outer shell. But it is an open issue why only a few modes develop and how they get enhanced. Kelley et al. 2010 [3] showed that some modes draw their energy from detached shear layers (e.g. Stewartson layers) via over-reflection. Additionally, Rieutord et al. (2012) [4] found critical layers within the shear layers below which most of the modes cannot exist. In contrast to other spherical shell experiments, we have a full optical access to the flow. Therefore, we present an experimental study of inertial modes, based on Particle-Image-Velocimetry (PIV) data, in a differentially rotating spherical gap flow where the inner sphere is subrotating or counter-rotating at Ωin with respect to the outer spherical shell at Ωout, characterized by the Rossby number Ro = (Ωin - Ωout)/Ωout. The radius ratio of η = 1/3, with rin = 40mm and rout = 120mm, is close to that of the Earth's core. Our apparatus is running at Ekman numbers (E ≈ 10-5, with E = ν/(Ωoutrout2), two orders of magnitude higher than most of the other experiments. Based on a frequency-Rossby number spectrogram, we can partly confirm previous considerations with respect to the onset of inertial modes. In contrast, the behavior of the modes in the counter-rotation regime is different. We found a triad interaction between three dominant inertial modes, where one is a slow axisymmetric Rossby mode [5]. We show that the amplitude of the most dominant mode (l,m,ˆω) = (3,2,˜ 0.71) is increasing with increasing |Ro| until a critical Rossby number Rocrit. Accompanying with this is an increase of the zonal mean flow outside the tangent cylinder, leading to enhanced angular momentum transport. At the particular Rocrit, the wave mode, and the entire flow, breaks up into smaller-scale turbulence [6], together with a strong increase of the zonal mean flow inside the tangent cylinder. We found that the critical Rossby number scales approximately with E1/5. References [1] Aldridge, K. D.; Lumb, L. I. (1987): Inertial waves identified in the Earth's fluid outer core. Nature 325 (6103), S. 421-423. DOI: 10.1038/325421a0. [2] Greenspan, H. P. (1968): The theory of rotating fluids. London: Cambridge U.P. (Cambridge monographs on mechanics and applied mathematics). [3] Kelley, D. H.; Triana, S. A.; Zimmerman, D. S.; Lathrop, D. P. (2010): Selection of inertial modes in spherical Couette flow. Phys. Rev. E 81 (2), 26311. DOI: 10.1103/PhysRevE.81.026311. [4] Rieutord, M.; Triana, S. A.; Zimmerman, D. S.; Lathrop, D. P. (2012): Excitation of inertial modes in an experimental spherical Couette flow. Phys. Rev. E 86 (2), 026304. DOI: 10.1103/PhysRevE.86.026304. [5] Hoff, M., Harlander, U., Egbers, C. (2016): Experimental survey of linear and nonlinear inertial waves and wave instabilities in a spherical shell. J. Fluid Mech., (in print) [6] Kerswell, R. R. (1999): Secondary instabilities in rapidly rotating fluids: inertial wave breakdown. Journal of Fluid Mechanics 382, S. 283-306. DOI: 10.1017/S0022112098003954.

263. Photocopy of drawing (1977 piping drawing by StearnsRoger Incorporated) ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

263. Photocopy of drawing (1977 piping drawing by Stearns-Roger Incorporated) NOAA MODIFICATION, SECTIONS FOR NITROGEN SUPPLY CABINET FOR INERTIAL MEASUREMENT UNIT, SHEET 501-P8 - Vandenberg Air Force Base, Space Launch Complex 3, Launch Pad 3 East, Napa & Alden Roads, Lompoc, Santa Barbara County, CA

Improving the Performance of MEMS GYROS via Redundant Measurements: Theory and Experiments

DTIC Science & Technology

2014-12-01

gyroscope arrays, improve performance inertial measurement unit ( IMU ), Sparkfun razor IMU , gyroscope, magnetometer, accelerometer, redundant IMU , angular...30 Figure 15 Sparkfun 9DOF razor IMU , after [21...43 Figure 27 Sparkfun razor IMU (bottom) connected to the FT232R breakout board (top) and then to a

Rangeland remote sensing applications with unmanned aerial systems (UAS) in the national airspace: challenges and experiences

USDA-ARS?s Scientific Manuscript database

In recent years, civilian applications of unmanned aerial systems (UAS) have increased considerably due to their greater availability and the miniaturization of sensors, GPS, inertial measurement units, and other hardware. UAS are well suited for rangeland remote sensing applications, because of the...

Critical issues for the application of integrated MEMS/CMOS technologies to inertial measurement units

DOE Office of Scientific and Technical Information (OSTI.GOV)

Smith, J.H.; Ellis, J.R.; Montague, S.

1997-03-01

One of the principal applications of monolithically integrated micromechanical/microelectronic systems has been accelerometers for automotive applications. As integrated MEMS/CMOS technologies such as those developed by U.C. Berkeley, Analog Devices, and Sandia National Laboratories mature, additional systems for more sensitive inertial measurements will enter the commercial marketplace. In this paper, the authors will examine key technology design rules which impact the performance and cost of inertial measurement devices manufactured in integrated MEMS/CMOS technologies. These design parameters include: (1) minimum MEMS feature size, (2) minimum CMOS feature size, (3) maximum MEMS linear dimension, (4) number of mechanical MEMS layers, (5) MEMS/CMOS spacing.more » In particular, the embedded approach to integration developed at Sandia will be examined in the context of these technology features. Presently, this technology offers MEMS feature sizes as small as 1 {micro}m, CMOS critical dimensions of 1.25 {micro}m, MEMS linear dimensions of 1,000 {micro}m, a single mechanical level of polysilicon, and a 100 {micro}m space between MEMS and CMOS. This is applicable to modern precision guided munitions.« less

Disability and Fatigue Can Be Objectively Measured in Multiple Sclerosis.

PubMed

Motta, Caterina; Palermo, Eduardo; Studer, Valeria; Germanotta, Marco; Germani, Giorgio; Centonze, Diego; Cappa, Paolo; Rossi, Silvia; Rossi, Stefano

2016-01-01

The available clinical outcome measures of disability in multiple sclerosis are not adequately responsive or sensitive. To investigate the feasibility of inertial sensor-based gait analysis in multiple sclerosis. A cross-sectional study of 80 multiple sclerosis patients and 50 healthy controls was performed. Lower-limb kinematics was evaluated by using a commercially available magnetic inertial measurement unit system. Mean and standard deviation of range of motion (mROM, sROM) for each joint of lower limbs were calculated in one minute walking test. A motor performance index (E) defined as the sum of sROMs was proposed. We established two novel observer-independent measures of disability. Hip mROM was extremely sensitive in measuring lower limb motor impairment, being correlated with muscle strength and also altered in patients without clinically detectable disability. On the other hand, E index discriminated patients according to disability, being altered only in patients with moderate and severe disability, regardless of walking speed. It was strongly correlated with fatigue and patient-perceived health status. Inertial sensor-based gait analysis is feasible and can detect clinical and subclinical disability in multiple sclerosis.

Admiralty Inlet Hub-Height Turbulence Measurements from June 2012

DOE Data Explorer

Kilcher, Levi

2012-06-18

This data is from measurements at Admiralty Head, in admiralty inlet. The measurements were made using an IMU equipped ADV mounted on a mooring, the 'Tidal Turbulence Mooring' or 'TTM'. The inertial measurements from the IMU allows for removal of mooring motion in post processing. The mooring motion has been removed from the stream-wise and vertical velocity signals (u, w). The lateral (v) velocity may have some 'persistent motion contamination' due to mooring sway. The ADV was positioned 11m above the seafloor in 58m of water at 48.1515N, 122.6858W. Units ----- - Velocity data (_u, urot, uacc) is in m/s. - Acceleration (Accel) data is in m/s^2. - Angular rate (AngRt) data is in rad/s. - The components of all vectors are in 'ENU' orientation. That is, the first index is True East, the second is True North, and the third is Up (vertical). - All other quantities are in the units defined in the Nortek Manual. Motion correction and rotation into the ENU earth reference frame was performed using the Python-based open source DOLfYN library (http://lkilcher.github.io/dolfyn/). Details on motion correction can be found there. For additional details on this dataset see the included Marine Energy Technology Symposium paper.

Gain-Scheduled Complementary Filter Design for a MEMS Based Attitude and Heading Reference System

PubMed Central

Yoo, Tae Suk; Hong, Sung Kyung; Yoon, Hyok Min; Park, Sungsu

2011-01-01

This paper describes a robust and simple algorithm for an attitude and heading reference system (AHRS) based on low-cost MEMS inertial and magnetic sensors. The proposed approach relies on a gain-scheduled complementary filter, augmented by an acceleration-based switching architecture to yield robust performance, even when the vehicle is subject to strong accelerations. Experimental results are provided for a road captive test during which the vehicle dynamics are in high-acceleration mode and the performance of the proposed filter is evaluated against the output from a conventional linear complementary filter. PMID:22163824

Motor unit activity when young and old adults perform steady contractions while supporting an inertial load

PubMed Central

Gould, Jeffrey R.; Enoka, Roger M.

2013-01-01

The purpose of the study was to compare the discharge characteristics of biceps brachii motor units of young and old adults when they performed steady, submaximal contractions while the arm supported different inertial loads. Young (28 ± 4 yr; n = 16) and old (75 ± 4 yr; n = 14) adults performed steady contractions with the elbow flexors at target forces set at either small (11.7 ± 4.4% maximum) or large (17.8 ± 6.5% maximum) differences below the recruitment threshold force of the motor unit (n = 40). The task was to maintain an elbow angle at 1.57 rad until the motor unit was recruited and discharged action potentials for ∼120 s. Time to recruitment was longer for the larger target force difference (187 ± 227 s vs. 23 ± 46 s, P < 0.001). Once recruited, motor units discharged action potentials either repetitively or intermittently, with a greater proportion of motor units exhibiting the repetitive pattern for old adults. Discharge rate at recruitment and during the steady contraction was similar for the two target force differences for old adults but was greater for the small target force difference for young adults. Discharge variability was similar at recruitment for the two age groups but less for the old adults during the steady contraction. The greatest difference between the present results and those reported previously when the arm pulled against a rigid restraint was that old adults modulated discharge rate less than young adults across the two contraction intensities for both load types. PMID:23221403

Relationship between loss of echogenicity and cavitation emissions from echogenic liposomes insonified by spectral Doppler ultrasound

NASA Astrophysics Data System (ADS)

Radhakrishnan, Kirthi

Cardiovascular disease is the leading cause of death and disability in the United States and worldwide. Echogenic liposomes (ELIP) are theragonistic ultrasound contrast agents (UCAs) being developed for the early detection and treatment of cardiovascular disease. Stability of the echogenicity of ELIP in physiologic conditions is crucial to their successful translation to clinical use. The stability of ELIP echogenicity was determined in vitro under physiologic conditions of total dissolved gas concentration, temperature, and hydrodynamic pressure in porcine plasma and whole blood. Ultrasound contrast agents (UCAs) have the potential to nucleate cavitation and promote both beneficial and deleterious bioeffects in vivo. Previous studies have elucidated the pressure amplitude threshold for rapid loss of echogenicity due to UCA fragmentation as a function of pulse duration and pulse repetition frequency (PRF). Previous studies have also demonstrated that UCA fragmentation was concomitant with inertial cavitation. The purpose of this study was to evaluate the relationship between stable and inertial cavitation thresholds and loss of echogenicity of ELIP as a function of pulse duration and pulse repetition frequency. Determining the relationship between cavitation thresholds and loss of echogenicity of ELIP would enable monitoring of cavitation based upon the on-screen echogenicity in clinical applications. ELIP were insonified by a clinical ultrasound scanner in duplex spectral Doppler mode at four pulse durations and four PRFs in a static fluid and in a flow system. Cavitation emissions from the UCAs insonified by Doppler pulses were recorded using a single-element passive cavitation detection (PCD) system and a passive cavitation imaging (PCI) system. Stable and inertial cavitation thresholds were ascertained. Loss of echogenicity from ELIP was assessed within regions of interest on B-mode images. Stable cavitation thresholds were found to be lower than inertial cavitation thresholds. Stable and inertial cavitation thresholds of ELIP were found to have a weak dependence on pulse duration. However, the stable cavitation threshold of ELIP had no dependence on PRF. The inertial cavitation threshold of ELIP had a weak dependence on PRF. Cavitation thresholds ascertained using a PCI agreed with the thresholds ascertained using a single-element PCD. The azimuthal beamwidth of the cavitation emissions detected by the PCI system agreed with the calibrated beamwidth of the insonation Doppler pressure exceeding the cavitation threshold. The power of cavitation emissions was an exponential function of the loss of echogenicity over the investigated range of acoustic pressures. ELIP lost more than 80% echogenicity before the onset of stable or inertial cavitation. Once this level of echogenicity loss occurred, both stable and inertial cavitation emissions were detected in the physiologic flow phantom. These results indicate that 80% loss of echogenicity may be used as a qualitative metric to gauge the onset of stable and inertial cavitation from ELIP.

Integrated INS/GPS Navigation from a Popular Perspective

NASA Technical Reports Server (NTRS)

Omerbashich, Mensur

2002-01-01

Inertial navigation, blended with other navigation aids, Global Positioning System (GPS) in particular, has gained significance due to enhanced navigation and inertial reference performance and dissimilarity for fault tolerance and anti-jamming. Relatively new concepts based upon using Differential GPS (DGPS) blended with Inertial (and visual) Navigation Sensors (INS) offer the possibility of low cost, autonomous aircraft landing. The FAA has decided to implement the system in a sophisticated form as a new standard navigation tool during this decade. There have been a number of new inertial sensor concepts in the recent past that emphasize increased accuracy of INS/GPS versus INS and reliability of navigation, as well as lower size and weight, and higher power, fault tolerance, and long life. The principles of GPS are not discussed; rather the attention is directed towards general concepts and comparative advantages. A short introduction to the problems faced in kinematics is presented. The intention is to relate the basic principles of kinematics to probably the most used navigation method in the future-INS/GPS. An example of the airborne INS is presented, with emphasis on how it works. The discussion of the error types and sources in navigation, and of the role of filters in optimal estimation of the errors then follows. The main question this paper is trying to answer is 'What are the benefits of the integration of INS and GPS and how is this, navigation concept of the future achieved in reality?' The main goal is to communicate the idea about what stands behind a modern navigation method.

Astrometry VLBI in Space (AVS

NASA Technical Reports Server (NTRS)

Altunin, V.; Alekseev, V.; Akim, E.; Eubanks, M.; Kingham, K.; Treuhaft, R.; Sukhanov, K.

1995-01-01

A proposed new space radio astronomy mission for astrometry is described. The Astrometry VLBI (very long baseline) in Space (AVS) nominal mission includes two identical spacecraft, each with a 4-m antenna sending data to a 70-m ground station. The goals of AVS are improving astrometry accuracy to the microarcsecond level and improving the accuracy of the transformation between the inertial radio and optical coordinate reference frames.

Fourier-based integration of quasi-periodic gait accelerations for drift-free displacement estimation using inertial sensors.

PubMed

Sabatini, Angelo Maria; Ligorio, Gabriele; Mannini, Andrea

2015-11-23

In biomechanical studies Optical Motion Capture Systems (OMCS) are considered the gold standard for determining the orientation and the position (pose) of an object in a global reference frame. However, the use of OMCS can be difficult, which has prompted research on alternative sensing technologies, such as body-worn inertial sensors. We developed a drift-free method to estimate the three-dimensional (3D) displacement of a body part during cyclical motions using body-worn inertial sensors. We performed the Fourier analysis of the stride-by-stride estimates of the linear acceleration, which were obtained by transposing the specific forces measured by the tri-axial accelerometer into the global frame using a quaternion-based orientation estimation algorithm and detecting when each stride began using a gait-segmentation algorithm. The time integration was performed analytically using the Fourier series coefficients; the inverse Fourier series was then taken for reconstructing the displacement over each single stride. The displacement traces were concatenated and spline-interpolated to obtain the entire trace. The method was applied to estimate the motion of the lower trunk of healthy subjects that walked on a treadmill and it was validated using OMCS reference 3D displacement data; different approaches were tested for transposing the measured specific force into the global frame, segmenting the gait and performing time integration (numerically and analytically). The width of the limits of agreements were computed between each tested method and the OMCS reference method for each anatomical direction: Medio-Lateral (ML), VerTical (VT) and Antero-Posterior (AP); using the proposed method, it was observed that the vertical component of displacement (VT) was within ±4 mm (±1.96 standard deviation) of OMCS data and each component of horizontal displacement (ML and AP) was within ±9 mm of OMCS data. Fourier harmonic analysis was applied to model stride-by-stride linear accelerations during walking and to perform their analytical integration. Our results showed that analytical integration based on Fourier series coefficients was a useful approach to accurately estimate 3D displacement from noisy acceleration data.

Mean flow generation mechanism by inertial waves and normal modes

NASA Astrophysics Data System (ADS)

Will, Andreas; Ghasemi, Abouzar

2016-04-01

The mean flow generation mechanism by nonlinearity of the inertial normal modes and inertial wave beams in a rotating annular cavity with longitudinally librating walls in stable regime is discussed. Inertial normal modes (standing waves) are excited when libration frequency matches eigenfrequencies of the system. Inertial wave beams are produced by Ekman pumping and suction in a rotating cylinder and form periodic orbits or periodic ray trajectories at selected frequencies. Inertial wave beams emerge as concentrated shear layers in a librating annular cavity, while normal modes appear as global recirculation cells. Both (inertial wave beam and mode) are helical and thus intrinsically non-linear flow structures. No second mode or wave is necessary for non-linearity. We considered the low order normal modes (1,1), (2,1) and (2,2) which are expected to be excited in the planetary objects and investigate the mean flow generation mechanism using two independent solutions: 1) analytical solution (Borcia 2012) and 2) the wave component of the flow (ω0 component) obtained from the direct numerical simulation (DNS). It is well known that a retrograde bulk mean flow is generated by the Ekman boundary layer and E1/4-Stewartson layer close to the outer cylinder side wall due to libration. At and around the normal mode resonant frequencies we found additionally a prograde azimuthal mean flow (Inertial Normal Mode Mean Flow: INMMF) in the bulk of the fluid. The fluid in the bulk is in geostrophic balance in the absence of the inertial normal modes. However, when INMMF is excited, we found that the geostrophic balance does not hold in the region occupied by INMMF. We hypothesize that INMMF is generated by the nonlinearity of the normal modes or by second order effects. Expanding the velocity {V}(u_r,u_θ,u_z) and pressure (p) in a power series in ɛ (libration amplitude), the Navier-Stokes equations are segregated into the linear and nonlinear parts at orders ɛ1 and ɛ^2, respectively. The former is used to find the analytical solution of the normal modes (Borcia 2012). Plugging two independent solutions into the latter we investigate the generation mechanism of INMMF. We found R1^1=overbar{partial_z(u_r1 u_z^1)}, R2^1=overbar{partial_r(u_r1 u_r^1)} as source terms responsible for the generation of INMMF. The helical structure of the inertial waves causes the nonlinear terms R1 and R2 to be nonzero, contributing to the generation of INMMF. We used u_ra and u_za obtained from the analytical solution (Borcia 2012) and computed the source terms R1a and R2a and found a structural correspondence with the corresponding field computed from the DNS solution for the three normal modes investigated. The sum of R11 and R21 exhibits a good structural correspondence with INMMF. Interestingly, INMMF magnitude depends on the inertial wave beams and normal modes. For instance we found that INMMF is generated more efficiently for the libration frequency ω=1.58, although the resonant frequency is predicted by the analytical solution to be at ω=1.576 (normal mode (2,1)). Separating the inertial wave beams from the flow field obtained by DNS, using the analytical normal mode solution, we explored the phase lag between inertial wave beams and normal mode. We inferred that the normal mode amplitude is high only if the phase lag between the inertial wave beam and the normal mode is predominantly positive. In this case a high amplitude INMMF amplitude can be found. This supports the hypothesis that the normal modes are generated by the inertial wave beam in analogy to resonant forcing in classical mechanics. Interestingly, the 'optimum' phase lag found is much smaller than π/2. {Acknowledgement:} This work is a part of the project "Mischung und Grundstromanregung durch propagierende Trgheitswellen: Theorie, Experiment und Simulation" supported by the German Science Foundation (DFG). We would like to thank M. Klein, U. Harlander, I. Borcia and E. Schaller for helpful discussions and invaluable contributions. {References:} Borcia, I. D. & Harlander, U. 2012 Inertial waves in a rotating annulus with inclined inner cylinder: comparing the spectrum of wave attractor frequency bands and the eigenspectrum in the limit of zero inclination. Theor. Comput. Fluid Dyn. 27, 397-413.

Status of E-ELT M5 scale-one demonstrator

NASA Astrophysics Data System (ADS)

Barriga, Pablo; Sedghi, Babak; Dimmler, Martin; Kornweibel, Nick

2014-07-01

The fifth mirror of the European Extremely Large Telescope optical train is a field stabilization tip/tilt unit responsible for correcting the dynamical tip and tilt caused mainly by wind load on the telescope. A scale-one prototype including the inclined support, the fixed frame and a basic control system was designed and manufactured by NTE-SENER (Spain) and CSEM (Switzerland) as part of the prototyping and design activities. All interfaces to the mirror have been reproduced on a dummy structure reproducing the inertial characteristics of the optical element. The M5 unit is required to have sufficient bandwidth for tip/tilt reference commands coming from the wavefront control system. Such a bandwidth can be achieved using local active damping loop to damp the low frequency mechanical modes before closing a position loop. Prototyping on the M5 unit has been undertaken in order to demonstrate the E-ELT control system architecture, concepts and development standards and to further study active damping strategies. The control system consists of two nested loops: a local damping loop and a position loop. The development of this control system was undertaken following the E-ELT control system development standards in order to determine their applicability and performance and includes hardware selection, communication, synchronization, configuration, and data logging. In this paper we present the current status of the prototype M5 control system and the latest results on the active damping control strategy, in particular the promising results obtained with the method of positive position feedback.

Detailed Test Plan Redundant Sensor Strapdown IMU Evaluation Program

NASA Technical Reports Server (NTRS)

Hartwell, T.; Miyatake, Y.; Wedekind, D. E.

1971-01-01

The test plan for a redundant sensor strapdown inertial measuring unit evaluation program is presented. The subjects discussed are: (1) test philosophy and limitations, (2) test sequence, (3) equipment specifications, (4) general operating procedures, (5) calibration procedures, (6) alignment test phase, and (7) navigation test phase. The data and analysis requirements are analyzed.

Calibration and Validation of Inertial Measurement Unit for Wave Resolving Drifters

DTIC Science & Technology

2013-12-01

wave field just described experiences accelerations due to both the wave induced pressure variations and the force of gravity. The gravitational ...with the vertical component also containing the gravitational acceleration constant (i.e., 9.81m/s2). B. SURFACE WAVE ORBITAL MOTION SIMULATOR...18 C. ACCELERATION TO DISPLACEMENT .................................................19 IV

A Foot-Mounted Inertial Measurement Unit (IMU) Positioning Algorithm Based on Magnetic Constraint

PubMed Central

Zou, Jiaheng

2018-01-01

With the development of related applications, indoor positioning techniques have been more and more widely developed. Based on Wi-Fi, Bluetooth low energy (BLE) and geomagnetism, indoor positioning techniques often rely on the physical location of fingerprint information. The focus and difficulty of establishing the fingerprint database are in obtaining a relatively accurate physical location with as little given information as possible. This paper presents a foot-mounted inertial measurement unit (IMU) positioning algorithm under the loop closure constraint based on magnetic information. It can provide relatively reliable position information without maps and geomagnetic information and provides a relatively accurate coordinate for the collection of a fingerprint database. In the experiment, the features extracted by the multi-level Fourier transform method proposed in this paper are validated and the validity of loop closure matching is tested with a RANSAC-based method. Moreover, the loop closure detection results show that the cumulative error of the trajectory processed by the graph optimization algorithm is significantly suppressed, presenting a good accuracy. The average error of the trajectory under loop closure constraint is controlled below 2.15 m. PMID:29494542

A Foot-Mounted Inertial Measurement Unit (IMU) Positioning Algorithm Based on Magnetic Constraint.

PubMed

Wang, Yan; Li, Xin; Zou, Jiaheng

2018-03-01

With the development of related applications, indoor positioning techniques have been more and more widely developed. Based on Wi-Fi, Bluetooth low energy (BLE) and geomagnetism, indoor positioning techniques often rely on the physical location of fingerprint information. The focus and difficulty of establishing the fingerprint database are in obtaining a relatively accurate physical location with as little given information as possible. This paper presents a foot-mounted inertial measurement unit (IMU) positioning algorithm under the loop closure constraint based on magnetic information. It can provide relatively reliable position information without maps and geomagnetic information and provides a relatively accurate coordinate for the collection of a fingerprint database. In the experiment, the features extracted by the multi-level Fourier transform method proposed in this paper are validated and the validity of loop closure matching is tested with a RANSAC-based method. Moreover, the loop closure detection results show that the cumulative error of the trajectory processed by the graph optimization algorithm is significantly suppressed, presenting a good accuracy. The average error of the trajectory under loop closure constraint is controlled below 2.15 m.

Simulation and analyses of the aeroassist flight experiment attitude update method

NASA Technical Reports Server (NTRS)

Carpenter, J. R.

1991-01-01

A method which will be used to update the alignment of the Aeroassist Flight Experiment's Inertial Measuring Unit is simulated and analyzed. This method, the Star Line Maneuver, uses measurements from the Space Shuttle Orbiter star trackers along with an extended Kalman filter to estimate a correction to the attitude quaternion maintained by an Inertial Measuring Unit in the Orbiter's payload bay. This quaternion is corrupted by on-orbit bending of the Orbiter payload bay with respect to the Orbiter navigation base, which is incorporated into the payload quaternion when it is initialized via a direct transfer of the Orbiter attitude state. The method of updating this quaternion is examined through verification of baseline cases and Monte Carlo analysis using a simplified simulation, The simulation uses nominal state dynamics and measurement models from the Kalman filter as its real world models, and is programmed on Microvax minicomputer using Matlab, and interactive matrix analysis tool. Results are presented which confirm and augment previous performance studies, thereby enhancing confidence in the Star Line Maneuver design methodology.

Load-embedded inertial measurement unit reveals lifting performance.

PubMed

Tammana, Aditya; McKay, Cody; Cain, Stephen M; Davidson, Steven P; Vitali, Rachel V; Ojeda, Lauro; Stirling, Leia; Perkins, Noel C

2018-07-01

Manual lifting of loads arises in many occupations as well as in activities of daily living. Prior studies explore lifting biomechanics and conditions implicated in lifting-induced injuries through laboratory-based experimental methods. This study introduces a new measurement method using load-embedded inertial measurement units (IMUs) to evaluate lifting tasks in varied environments outside of the laboratory. An example vertical load lifting task is considered that is included in an outdoor obstacle course. The IMU data, in the form of the load acceleration and angular velocity, is used to estimate load vertical velocity and three lifting performance metrics: the lifting time (speed), power, and motion smoothness. Large qualitative differences in these parameters distinguish exemplar high and low performance trials. These differences are further supported by subsequent statistical analyses of twenty three trials (including a total of 115 total lift/lower cycles) from fourteen healthy participants. Results reveal that lifting time is strongly correlated with lifting power (as expected) but also correlated with motion smoothness. Thus, participants who lift rapidly do so with significantly greater power using motions that minimize motion jerk. Copyright © 2018 Elsevier Ltd. All rights reserved.

Inertial Movements of the Iris as the Origin of Postsaccadic Oscillations.

PubMed

Bouzat, S; Freije, M L; Frapiccini, A L; Gasaneo, G

2018-04-27

Recent studies on the human eye indicate that the pupil moves inside the eyeball due to deformations of the iris. Here we show that this phenomenon can be originated by inertial forces undergone by the iris during the rotation of the eyeball. Moreover, these forces affect the iris in such a way that the pupil behaves effectively as a massive particle. To show this, we develop a model based on the Newton equation on the noninertial reference frame of the eyeball. The model allows us to reproduce and interpret several important findings of recent eye-tracking experiments on saccadic movements. In particular, we get correct results for the dependence of the amplitude and period of the postsaccadic oscillations on the saccade size and also for the peak velocity. The model developed may serve as a tool for characterizing eye properties of individuals.

Reynolds Stress Closure for Inertial Frames and Rotating Frames

NASA Astrophysics Data System (ADS)

Petty, Charles; Benard, Andre

2017-11-01

In a rotating frame-of-reference, the Coriolis acceleration and the mean vorticity field have a profound impact on the redistribution of kinetic energy among the three components of the fluctuating velocity. Consequently, the normalized Reynolds (NR) stress is not objective. Furthermore, because the Reynolds stress is defined as an ensemble average of a product of fluctuating velocity vector fields, its eigenvalues must be non-negative for all turbulent flows. These fundamental properties (realizability and non-objectivity) of the NR-stress cannot be compromised in computational fluid dynamic (CFD) simulations of turbulent flows in either inertial frames or in rotating frames. The recently developed universal realizable anisotropic prestress (URAPS) closure for the NR-stress depends explicitly on the local mean velocity gradient and the Coriolis operator. The URAPS-closure is a significant paradigm shift from turbulent closure models that assume that dyadic-valued operators associated with turbulent fluctuations are objective.

Lorentz-invariant three-vectors and alternative formulation of relativistic dynamics

NASA Astrophysics Data System (ADS)

RÈ©bilas, Krzysztof

2010-03-01

Besides the well-known scalar invariants, there also exist vectorial invariants in special relativity. It is shown that the three-vector (dp⃗/dt)∥+γv(dp⃗/dt)⊥ is invariant under the Lorentz transformation. The subscripts ∥ and ⊥ denote the respective components with respect to the direction of the velocity of the body v⃗, and p⃗ is the relativistic momentum. We show that this vector is equal to a force F⃗R, which satisfies the classical Newtonian law F⃗R=ma⃗R in the instantaneous inertial rest frame of an accelerating body. Therefore, the relation F⃗R=(dp⃗/dt)∥+γv(dp⃗/dt)⊥, based on the Lorentz-invariant vectors, may be used as an invariant (not merely a covariant) relativistic equation of motion in any inertial system of reference. An alternative approach to classical electrodynamics based on the invariant three-vectors is proposed.

Inertial Movements of the Iris as the Origin of Postsaccadic Oscillations

NASA Astrophysics Data System (ADS)

Bouzat, S.; Freije, M. L.; Frapiccini, A. L.; Gasaneo, G.

2018-04-01

Recent studies on the human eye indicate that the pupil moves inside the eyeball due to deformations of the iris. Here we show that this phenomenon can be originated by inertial forces undergone by the iris during the rotation of the eyeball. Moreover, these forces affect the iris in such a way that the pupil behaves effectively as a massive particle. To show this, we develop a model based on the Newton equation on the noninertial reference frame of the eyeball. The model allows us to reproduce and interpret several important findings of recent eye-tracking experiments on saccadic movements. In particular, we get correct results for the dependence of the amplitude and period of the postsaccadic oscillations on the saccade size and also for the peak velocity. The model developed may serve as a tool for characterizing eye properties of individuals.

Special relativity in a discrete quantum universe

NASA Astrophysics Data System (ADS)

Bisio, Alessandro; D'Ariano, Giacomo Mauro; Perinotti, Paolo

2016-10-01

The hypothesis of a discrete fabric of the universe, the "Planck scale," is always on stage since it solves mathematical and conceptual problems in the infinitely small. However, it clashes with special relativity, which is designed for the continuum. Here, we show how the clash can be overcome within a discrete quantum theory where the evolution of fields is described by a quantum cellular automaton. The reconciliation is achieved by defining the change of observer as a change of representation of the dynamics, without any reference to space-time. We use the relativity principle, i.e., the invariance of dynamics under change of inertial observer, to identify a change of inertial frame with a symmetry of the dynamics. We consider the full group of such symmetries, and recover the usual Lorentz group in the relativistic regime of low energies, while at the Planck scale the covariance is nonlinearly distorted.

Avatar - a multi-sensory system for real time body position monitoring.

PubMed

Jovanov, E; Hanish, N; Courson, V; Stidham, J; Stinson, H; Webb, C; Denny, K

2009-01-01

Virtual reality and computer assisted physical rehabilitation applications require an unobtrusive and inexpensive real time monitoring systems. Existing systems are usually complex and expensive and based on infrared monitoring. In this paper we propose Avatar, a hybrid system consisting of off-the-shelf components and sensors. Absolute positioning of a few reference points is determined using infrared diode on subject's body and a set of Wii Remotes as optical sensors. Individual body segments are monitored by intelligent inertial sensor nodes iSense. A network of inertial nodes is controlled by a master node that serves as a gateway for communication with a capture device. Each sensor features a 3D accelerometer and a 2 axis gyroscope. Avatar system is used for control of avatars in Virtual Reality applications, but could be used in a variety of augmented reality, gaming, and computer assisted physical rehabilitation applications.

Generating Animated Displays of Spacecraft Orbits

NASA Technical Reports Server (NTRS)

Candey, Robert M.; Chimiak, Reine A.; Harris, Bernard T.

2005-01-01

Tool for Interactive Plotting, Sonification, and 3D Orbit Display (TIPSOD) is a computer program for generating interactive, animated, four-dimensional (space and time) displays of spacecraft orbits. TIPSOD utilizes the programming interface of the Satellite Situation Center Web (SSCWeb) services to communicate with the SSC logic and database by use of the open protocols of the Internet. TIPSOD is implemented in Java 3D and effects an extension of the preexisting SSCWeb two-dimensional static graphical displays of orbits. Orbits can be displayed in any or all of the following seven reference systems: true-of-date (an inertial system), J2000 (another inertial system), geographic, geomagnetic, geocentric solar ecliptic, geocentric solar magnetospheric, and solar magnetic. In addition to orbits, TIPSOD computes and displays Sibeck's magnetopause and Fairfield's bow-shock surfaces. TIPSOD can be used by the scientific community as a means of projection or interpretation. It also has potential as an educational tool.

Estimation of the center of rotation using wearable magneto-inertial sensors.

PubMed

Crabolu, M; Pani, D; Raffo, L; Cereatti, A

2016-12-08

Determining the center of rotation (CoR) of joints is fundamental to the field of human movement analysis. CoR can be determined using a magneto-inertial measurement unit (MIMU) using a functional approach requiring a calibration exercise. We systematically investigated the influence of different experimental conditions that can affect precision and accuracy while estimating the CoR, such as (a) angular joint velocity, (b) distance between the MIMU and the CoR, (c) type of the joint motion implemented, (d) amplitude of the angular range of motion, (e) model of the MIMU used for data recording, (f) amplitude of additive noise on inertial signals, and (g) amplitude of the errors in the MIMU orientation. The evaluation process was articulated at three levels: assessment through experiments using a mechanical device, mathematical simulation, and an analytical propagation model of the noise. The results reveal that joint angular velocity significantly impacted CoR identification, and hence, slow joint movement should be avoided. An accurate estimation of the MIMU orientation is also fundamental for accurately subtracting the contribution owing to gravity to obtain the coordinate acceleration. The unit should be preferably attached close to the CoR, but both type and range of motion do not appear to be critical. When the proposed methodology is correctly implemented, error in the CoR estimates is expected to be <3mm (best estimates=2±0.5mm). The findings of the present study foster the need to further investigate this methodology for application in human subjects. Copyright © 2016 Elsevier Ltd. All rights reserved.

System Error Compensation Methodology Based on a Neural Network for a Micromachined Inertial Measurement Unit

PubMed Central

Liu, Shi Qiang; Zhu, Rong

2016-01-01

Errors compensation of micromachined-inertial-measurement-units (MIMU) is essential in practical applications. This paper presents a new compensation method using a neural-network-based identification for MIMU, which capably solves the universal problems of cross-coupling, misalignment, eccentricity, and other deterministic errors existing in a three-dimensional integrated system. Using a neural network to model a complex multivariate and nonlinear coupling system, the errors could be readily compensated through a comprehensive calibration. In this paper, we also present a thermal-gas MIMU based on thermal expansion, which measures three-axis angular rates and three-axis accelerations using only three thermal-gas inertial sensors, each of which capably measures one-axis angular rate and one-axis acceleration simultaneously in one chip. The developed MIMU (100 × 100 × 100 mm3) possesses the advantages of simple structure, high shock resistance, and large measuring ranges (three-axes angular rates of ±4000°/s and three-axes accelerations of ±10 g) compared with conventional MIMU, due to using gas medium instead of mechanical proof mass as the key moving and sensing elements. However, the gas MIMU suffers from cross-coupling effects, which corrupt the system accuracy. The proposed compensation method is, therefore, applied to compensate the system errors of the MIMU. Experiments validate the effectiveness of the compensation, and the measurement errors of three-axis angular rates and three-axis accelerations are reduced to less than 1% and 3% of uncompensated errors in the rotation range of ±600°/s and the acceleration range of ±1 g, respectively. PMID:26840314

International Conference on the Mechanical Technology of Inertial Devices, University of Newcastle-upon-Tyne, England, Apr. 7-9, 1987, Proceedings

NASA Astrophysics Data System (ADS)

Various papers on the mechanical technology of inertial devices are presented. The topics addressed include: development of a directional gyroscope for remotely piloted vehicles and similar applications; a two-degree-of-freedom gyroscope with frictionless inner and outer gimbal pickoffs; oscillogyro design, manufacture, and performance; development of miniature two-axis rate gyroscope; mechanical design aspects of the electrostatically suspended gyroscope; role of gas-lubricated bearings in current and future sensors; development of a new microporous retainer material for precision ball bearings; design study for a high-stability, large-centrifuge test bed; evaluation of a two-axis rate gyro; operating principles of a two-axis angular rate transducer; and nutation frequency analysis. Also considered are: triaxial laser gyro; mechanical design considerations for a ring laser gyro dither mechanism; environmental considerations in the design of fiberoptic gyroscopes; manufacturing aspects of some critical high-precision mechanical components of inertial devices; dynamics and control of a gyroscopic force measurement system; high precision and high performance motion systems; use of multiple acceleration references to obtain high precision centrifuge data at low cost; gyro testing and evaluation at the Communications Research Centre; review of the mechanical design and development of a high-performance accelerometer; and silicon microengineering for accelerometers.

A new torsion pendulum for gravitational reference sensor technology development.

PubMed

Ciani, Giacomo; Chilton, Andrew; Apple, Stephen; Olatunde, Taiwo; Aitken, Michael; Mueller, Guido; Conklin, John W

2017-06-01

We report on the design and sensitivity of a new torsion pendulum for measuring the performance of ultra-precise inertial sensors and for the development of associated technologies for space-based gravitational wave observatories and geodesy missions. The apparatus comprises a 1 m-long, 50 μm-diameter tungsten fiber that supports an inertial member inside a vacuum system. The inertial member is an aluminum crossbar with four hollow cubic test masses at each end. This structure converts the rotation of the torsion pendulum into translation of the test masses. Two test masses are enclosed in capacitive sensors which provide readout and actuation. These test masses are electrically insulated from the rest of the crossbar and their electrical charge is controlled by photoemission using fiber-coupled ultraviolet light emitting diodes. The capacitive readout measures the test mass displacement with a broadband sensitivity of 30 nm∕Hz and is complemented by a laser interferometer with a sensitivity of about 0.5 nm∕Hz. The performance of the pendulum, as determined by the measured residual torque noise and expressed in terms of equivalent force acting on a single test mass, is roughly 200 fN∕Hz around 2 mHz, which is about a factor of 20 above the thermal noise limit of the fiber.

The Influence of Gravito-Inertial Force on Sensorimotor Integration and Reflexive Responses

NASA Technical Reports Server (NTRS)

Curthoys, Ian S.; Guedry, Fred E.; Merfeld, Daniel M.; Watt, Doug G. D.; Tomko, David L.; Wade, Charles E. (Technical Monitor)

1994-01-01

Sensorimotor responses (e.g.. eye movements, spinal reflexes, etc depend upon the interpretation of the neural signals from the sensory systems. Since neural signals from the otoliths may represent either tilt (gravity) or translation (linear inertial force), sensory signals from the otolith organs are necessarily somewhat ambiguous. Therefore. the neural responses to changing otolith signals depend upon the context of the stimulation (e.g- active vs. passive, relative orientation of gravity, etc.) as well as upon other sensory signals (e.g., vision. canals, etc.). This session will focus upon the -role -played by the sensory signals from the otolith organs in producing efficient sensorimotor and behavioral responses. Curthoys will show the influence of the peripheral anatomy and physiology. Tomko will discuss the influence of tilt and translational otolith signals on eye movements. Merfeld will demonstrate the rate otolith organs play during the interaction of sensory signals from the canals and otoliths. Watt will show the influence of the otoliths on spinal/postural responses. Guedry will discuss the contribution of vestibular information to "path of movement"' perception and to the development of a stable vertical reference. Sensorimotor responses to the ambiguous inertial force stimulation provide an important tool to investigate how the nervous system processes patterns of sensory information and yields functional sensorimotor responses.

Weak Galilean invariance as a selection principle for coarse-grained diffusive models.

PubMed

Cairoli, Andrea; Klages, Rainer; Baule, Adrian

2018-05-29

How does the mathematical description of a system change in different reference frames? Galilei first addressed this fundamental question by formulating the famous principle of Galilean invariance. It prescribes that the equations of motion of closed systems remain the same in different inertial frames related by Galilean transformations, thus imposing strong constraints on the dynamical rules. However, real world systems are often described by coarse-grained models integrating complex internal and external interactions indistinguishably as friction and stochastic forces. Since Galilean invariance is then violated, there is seemingly no alternative principle to assess a priori the physical consistency of a given stochastic model in different inertial frames. Here, starting from the Kac-Zwanzig Hamiltonian model generating Brownian motion, we show how Galilean invariance is broken during the coarse-graining procedure when deriving stochastic equations. Our analysis leads to a set of rules characterizing systems in different inertial frames that have to be satisfied by general stochastic models, which we call "weak Galilean invariance." Several well-known stochastic processes are invariant in these terms, except the continuous-time random walk for which we derive the correct invariant description. Our results are particularly relevant for the modeling of biological systems, as they provide a theoretical principle to select physically consistent stochastic models before a validation against experimental data.

Improved motor control method with measurements of fiber optics gyro (FOG) for dual-axis rotational inertial navigation system (RINS).

PubMed

Song, Tianxiao; Wang, Xueyun; Liang, Wenwei; Xing, Li

2018-05-14

Benefiting from frame structure, RINS can improve the navigation accuracy by modulating the inertial sensor errors with proper rotation scheme. In the traditional motor control method, the measurements of the photoelectric encoder are always adopted to drive inertial measurement unit (IMU) to rotate. However, when carrier conducts heading motion, the inertial sensor errors may no longer be zero-mean in navigation coordinate. Meanwhile, some high-speed carriers like aircraft need to roll a certain angle to balance the centrifugal force during the heading motion, which may result in non-negligible coupling errors, caused by the FOG installation errors and scale factor errors. Moreover, the error parameters of FOG are susceptible to the temperature and magnetic field, and the pre-calibration is a time-consuming process which is difficult to completely suppress the FOG-related errors. In this paper, an improved motor control method with the measurements of FOG is proposed to address these problems, with which the outer frame can insulate the carrier's roll motion and the inner frame can simultaneously achieve the rotary modulation on the basis of insulating the heading motion. The results of turntable experiments indicate that the navigation performance of dual-axis RINS has been significantly improved over the traditional method, which could still be maintained even with large FOG installation errors and scale factor errors, proving that the proposed method can relax the requirements for the accuracy of FOG-related errors.

Indoor localization using pedestrian dead reckoning updated with RFID-based fiducials.

PubMed

House, Samuel; Connell, Sean; Milligan, Ian; Austin, Daniel; Hayes, Tamara L; Chiang, Patrick

2011-01-01

We describe a low-cost wearable system that tracks the location of individuals indoors using commonly available inertial navigation sensors fused with radio frequency identification (RFID) tags placed around the smart environment. While conventional pedestrian dead reckoning (PDR) calculated with an inertial measurement unit (IMU) is susceptible to sensor drift inaccuracies, the proposed wearable prototype fuses the drift-sensitive IMU with a RFID tag reader. Passive RFID tags placed throughout the smart-building then act as fiducial markers that update the physical locations of each user, thereby correcting positional errors and sensor inaccuracy. Experimental measurements taken for a 55 m × 20 m 2D floor space indicate an over 1200% improvement in average error rate of the proposed RFID-fused system over dead reckoning alone.

A Hybrid Indoor Localization and Navigation System with Map Matching for Pedestrians Using Smartphones.

PubMed

Tian, Qinglin; Salcic, Zoran; Wang, Kevin I-Kai; Pan, Yun

2015-12-05

Pedestrian dead reckoning is a common technique applied in indoor inertial navigation systems that is able to provide accurate tracking performance within short distances. Sensor drift is the main bottleneck in extending the system to long-distance and long-term tracking. In this paper, a hybrid system integrating traditional pedestrian dead reckoning based on the use of inertial measurement units, short-range radio frequency systems and particle filter map matching is proposed. The system is a drift-free pedestrian navigation system where position error and sensor drift is regularly corrected and is able to provide long-term accurate and reliable tracking. Moreover, the whole system is implemented on a commercial off-the-shelf smartphone and achieves real-time positioning and tracking performance with satisfactory accuracy.

Can the fluctuations of motion be used to estimate the performance of kayak paddlers?

NASA Astrophysics Data System (ADS)

Vadai, Gergely; Gingl, Zoltán

2016-05-01

Today many compact and efficient on-water data acquisition units help modern coaching by measuring and analyzing various inertial signals during kayaking. One of the most challenging problems is how these signals can be used to estimate performance and to develop the technique. Recently we have introduced indicators based on the fluctuations of the inertial signals as promising additions to the existing parameters. In this work we report on our more detailed analysis, compare new indicators, and discuss the possible advantages of the applied methods. Our primary aim is to draw attention to several exciting and inspiring open problems and to initiate further research even in several related multidisciplinary fields. More detailed information can be found on the dedicated webpage, www.noise.inf.u-szeged.hu/kayak.

Dual-axis high-data-rate atom interferometer via cold ensemble exchange

DOE PAGES

Rakholia, Akash V.; McGuinness, Hayden J.; Biedermann, Grant W.

2014-11-24

We demonstrate a dual-axis accelerometer and gyroscope atom interferometer, which can form the building blocks of a six-axis inertial measurement unit. By recapturing the atoms after the interferometer sequence, we maintain a large atom number at high data rates of 50 to 100 measurements per second. Two cold ensembles are formed in trap zones located a few centimeters apart and are launched toward one another. During their ballistic trajectory, they are interrogated with a stimulated Raman sequence, detected, and recaptured in the opposing trap zone. As a result, we achieve sensitivities at μg/ √Hz and μrad/s/ √Hz levels, making thismore » a compelling prospect for expanding the use of atom interferometer inertial sensors beyond benign laboratory environments.« less

Turbulence Characteristics in an Elevated Shear Layer over Owens Valley

DTIC Science & Technology

2010-02-14

Arnéodo, G. Grasseau, Y. Gagne, E. J. Hopfinger, and U. Frisch, 1989: Wavelet analysis of turbulence reveals the multifractal nature of the Richardson...Helmholtz (KH) instability, the tur- bulence inertial subrange, turbulence intermittency, and cross -scale energy transfer over complex terrain. The...or cross -valley) and the normal (also referred to as along- valley) wind components, respectively. Figure 2 shows profiles derived from the 1800 UTC

Navigation System Design and State Estimation for a Small Rigid Hull Inflatable Boat (RHIB)

DTIC Science & Technology

2014-09-01

addition of the Coriolis term as previously defined has no effect on pitch, only one measurement is compared against Condor’s true pitch angle values...33  B.  REFERENCE FRAME DEFINITIONS ......................................................33  1.  Earth Centered Inertial...the effect of higher order terms. Lastly, the zeroth weight of the scaled weight set can be modified to incorporate prior knowledge of the

The Geolocation model for lunar-based Earth observation

NASA Astrophysics Data System (ADS)

Ding, Yixing; Liu, Guang; Ren, Yuanzhen; Ye, Hanlin; Guo, Huadong; Lv, Mingyang

2016-07-01

In recent years, people are more and more aware of that the earth need to treated as an entirety, and consequently to be observed in a holistic, systematic and multi-scale view. However, the interaction mechanism between the Earth's inner layers and outer layers is still unclear. Therefore, we propose to observe the Earth's inner layers and outer layers instantaneously on the Moon which may be helpful to the studies in climatology, meteorology, seismology, etc. At present, the Moon has been proved to be an irreplaceable platform for Earth's outer layers observation. Meanwhile, some discussions have been made in lunar-based observation of the Earth's inner layers, but the geolocation model of lunar-based observation has not been specified yet. In this paper, we present a geolocation model based on transformation matrix. The model includes six coordinate systems: The telescope coordinate system, the lunar local coordinate system, the lunar-reference coordinate system, the selenocentric inertial coordinate system, the geocentric inertial coordinate system and the geo-reference coordinate system. The parameters, lncluding the position of the Sun, the Earth, the Moon, the libration and the attitude of the Earth, can be acquired from the Ephemeris. By giving an elevation angle and an azimuth angle of the lunar-based telescope, this model links the image pixel to the ground point uniquely.

Space Shuttle propulsion performance reconstruction from flight data

NASA Technical Reports Server (NTRS)

Rogers, Robert M.

1989-01-01

The aplication of extended Kalman filtering to estimating Space Shuttle Solid Rocket Booster (SRB) performance, specific impulse, from flight data in a post-flight processing computer program. The flight data used includes inertial platform acceleration, SRB head pressure, and ground based radar tracking data. The key feature in this application is the model used for the SRBs, which represents a reference quasi-static internal ballistics model normalized to the propellant burn depth. Dynamic states of mass overboard and propellant burn depth are included in the filter model to account for real-time deviations from the reference model used. Aerodynamic, plume, wind and main engine uncertainties are included.

Estimation of Full-Body Poses Using Only Five Inertial Sensors: An Eager or Lazy Learning Approach?

PubMed Central

Wouda, Frank J.; Giuberti, Matteo; Bellusci, Giovanni; Veltink, Peter H.

2016-01-01

Human movement analysis has become easier with the wide availability of motion capture systems. Inertial sensing has made it possible to capture human motion without external infrastructure, therefore allowing measurements in any environment. As high-quality motion capture data is available in large quantities, this creates possibilities to further simplify hardware setups, by use of data-driven methods to decrease the number of body-worn sensors. In this work, we contribute to this field by analyzing the capabilities of using either artificial neural networks (eager learning) or nearest neighbor search (lazy learning) for such a problem. Sparse orientation features, resulting from sensor fusion of only five inertial measurement units with magnetometers, are mapped to full-body poses. Both eager and lazy learning algorithms are shown to be capable of constructing this mapping. The full-body output poses are visually plausible with an average joint position error of approximately 7 cm, and average joint angle error of 7∘. Additionally, the effects of magnetic disturbances typical in orientation tracking on the estimation of full-body poses was also investigated, where nearest neighbor search showed better performance for such disturbances. PMID:27983676

Estimation of Full-Body Poses Using Only Five Inertial Sensors: An Eager or Lazy Learning Approach?

PubMed

Wouda, Frank J; Giuberti, Matteo; Bellusci, Giovanni; Veltink, Peter H

2016-12-15

Human movement analysis has become easier with the wide availability of motion capture systems. Inertial sensing has made it possible to capture human motion without external infrastructure, therefore allowing measurements in any environment. As high-quality motion capture data is available in large quantities, this creates possibilities to further simplify hardware setups, by use of data-driven methods to decrease the number of body-worn sensors. In this work, we contribute to this field by analyzing the capabilities of using either artificial neural networks (eager learning) or nearest neighbor search (lazy learning) for such a problem. Sparse orientation features, resulting from sensor fusion of only five inertial measurement units with magnetometers, are mapped to full-body poses. Both eager and lazy learning algorithms are shown to be capable of constructing this mapping. The full-body output poses are visually plausible with an average joint position error of approximately 7 cm, and average joint angle error of 7 ∘ . Additionally, the effects of magnetic disturbances typical in orientation tracking on the estimation of full-body poses was also investigated, where nearest neighbor search showed better performance for such disturbances.

Modular injector integrated linear apparatus with motion profile optimization for spatial atomic layer deposition.

PubMed

Wang, Xiaolei; Li, Yun; Lin, Jilong; Shan, Bin; Chen, Rong

2017-11-01

A spatial atomic layer deposition apparatus integrated with a modular injector and a linear motor has been designed. It consists of four parts: a precursor delivery manifold, a modular injector, a reaction zone, and a driving unit. An injector with multi-layer structured channels is designed to help improve precursor distribution homogeneity. During the back and forth movement of the substrate at high speed, the inertial impact caused by jerk and sudden changes of acceleration will degrade the film deposition quality. Such residual vibration caused by inertial impact will aggravate the fluctuation of the gap distance between the injector and the substrate in the deposition process. Thus, an S-curve motion profile is implemented to reduce the large inertial impact, and the maximum position error could be reduced by 84%. The microstructure of the film under the S-curve motion profile shows smaller root-mean-square and scanning voltage amplitude under an atomic force microscope, which verifies the effectiveness of the S-curve motion profile in reducing the residual vibration and stabilizing the gap distance between the injector and the substrate. The film deposition rate could reach 100 nm/min while maintaining good uniformity without obvious periodic patterns on the surface.

Modular injector integrated linear apparatus with motion profile optimization for spatial atomic layer deposition

NASA Astrophysics Data System (ADS)

Wang, Xiaolei; Li, Yun; Lin, Jilong; Shan, Bin; Chen, Rong

2017-11-01

A spatial atomic layer deposition apparatus integrated with a modular injector and a linear motor has been designed. It consists of four parts: a precursor delivery manifold, a modular injector, a reaction zone, and a driving unit. An injector with multi-layer structured channels is designed to help improve precursor distribution homogeneity. During the back and forth movement of the substrate at high speed, the inertial impact caused by jerk and sudden changes of acceleration will degrade the film deposition quality. Such residual vibration caused by inertial impact will aggravate the fluctuation of the gap distance between the injector and the substrate in the deposition process. Thus, an S-curve motion profile is implemented to reduce the large inertial impact, and the maximum position error could be reduced by 84%. The microstructure of the film under the S-curve motion profile shows smaller root-mean-square and scanning voltage amplitude under an atomic force microscope, which verifies the effectiveness of the S-curve motion profile in reducing the residual vibration and stabilizing the gap distance between the injector and the substrate. The film deposition rate could reach 100 nm/min while maintaining good uniformity without obvious periodic patterns on the surface.

Monitoring Hitting Load in Tennis Using Inertial Sensors and Machine Learning.

PubMed

Whiteside, David; Cant, Olivia; Connolly, Molly; Reid, Machar

2017-10-01

Quantifying external workload is fundamental to training prescription in sport. In tennis, global positioning data are imprecise and fail to capture hitting loads. The current gold standard (manual notation) is time intensive and often not possible given players' heavy travel schedules. To develop an automated stroke-classification system to help quantify hitting load in tennis. Nineteen athletes wore an inertial measurement unit (IMU) on their wrist during 66 video-recorded training sessions. Video footage was manually notated such that known shot type (serve, rally forehand, slice forehand, forehand volley, rally backhand, slice backhand, backhand volley, smash, or false positive) was associated with the corresponding IMU data for 28,582 shots. Six types of machine-learning models were then constructed to classify true shot type from the IMU signals. Across 10-fold cross-validation, a cubic-kernel support vector machine classified binned shots (overhead, forehand, or backhand) with an accuracy of 97.4%. A second cubic-kernel support vector machine achieved 93.2% accuracy when classifying all 9 shot types. With a view to monitoring external load, the combination of miniature inertial sensors and machine learning offers a practical and automated method of quantifying shot counts and discriminating shot types in elite tennis players.

Inertial Fusion and High-Energy-Density Science in the United States

DOE Office of Scientific and Technical Information (OSTI.GOV)

Tarter, C B

2001-09-06

Inertial fusion and high-energy density science worldwide is poised to take a great leap forward. In the US, programs at the University of Rochester, Sandia National Laboratories, Los Alamos National Laboratory, Lawrence Livermore National Laboratory (LLNL), the Naval Research Laboratory, and many smaller laboratories have laid the groundwork for building a facility in which fusion ignition can be studied in the laboratory for the first time. The National Ignition Facility (NIF) is being built by the Department of Energy's National Nuclear Security Agency to provide an experimental test bed for the US Stockpile Stewardship Program (SSP) to ensure the dependabilitymore » of the country's nuclear deterrent without underground nuclear testing. NIF and other large laser systems being planned such as the Laser MegaJoule (LMJ) in France will also make important contributions to basic science, the development of inertial fusion energy, and other scientific and technological endeavors. NIF will be able to produce extreme temperatures and pressures in matter. This will allow simulating astrophysical phenomena (on a tiny scale) and measuring the equation of state of material under conditions that exist in planetary cores.« less

Loose Coupling of Wearable-Based INSs with Automatic Heading Evaluation.

PubMed

Bousdar Ahmed, Dina; Munoz Diaz, Estefania

2017-11-03

Position tracking of pedestrians by means of inertial sensors is a highly explored field of research. In fact, there are already many approaches to implement inertial navigation systems (INSs). However, most of them use a single inertial measurement unit (IMU) attached to the pedestrian's body. Since wearable-devices will be given items in the future, this work explores the implementation of an INS using two wearable-based IMUs. A loosely coupled approach is proposed to combine the outputs of wearable-based INSs. The latter are based on a pocket-mounted IMU and a foot-mounted IMU. The loosely coupled fusion combines the output of the two INSs not only when these outputs are least erroneous, but also automatically favoring the best output. This approach is named smart update. The main challenge is determining the quality of the heading estimation of each INS, which changes every time. In order to address this, a novel concept to determine the quality of the heading estimation is presented. This concept is subject to a patent application. The results show that the position error rate of the loosely coupled fusion is 10 cm/s better than either the foot INS's or pocket INS's error rate in 95% of the cases.

Disability and Fatigue Can Be Objectively Measured in Multiple Sclerosis

PubMed Central

Motta, Caterina; Palermo, Eduardo; Studer, Valeria; Germanotta, Marco; Germani, Giorgio; Centonze, Diego; Cappa, Paolo

2016-01-01

Background The available clinical outcome measures of disability in multiple sclerosis are not adequately responsive or sensitive. Objective To investigate the feasibility of inertial sensor-based gait analysis in multiple sclerosis. Methods A cross-sectional study of 80 multiple sclerosis patients and 50 healthy controls was performed. Lower-limb kinematics was evaluated by using a commercially available magnetic inertial measurement unit system. Mean and standard deviation of range of motion (mROM, sROM) for each joint of lower limbs were calculated in one minute walking test. A motor performance index (E) defined as the sum of sROMs was proposed. Results We established two novel observer-independent measures of disability. Hip mROM was extremely sensitive in measuring lower limb motor impairment, being correlated with muscle strength and also altered in patients without clinically detectable disability. On the other hand, E index discriminated patients according to disability, being altered only in patients with moderate and severe disability, regardless of walking speed. It was strongly correlated with fatigue and patient-perceived health status. Conclusions Inertial sensor-based gait analysis is feasible and can detect clinical and subclinical disability in multiple sclerosis. PMID:26863109

Attitude Control System Design for the Solar Dynamics Observatory

NASA Technical Reports Server (NTRS)

Starin, Scott R.; Bourkland, Kristin L.; Kuo-Chia, Liu; Mason, Paul A. C.; Vess, Melissa F.; Andrews, Stephen F.; Morgenstern, Wendy M.

2005-01-01

The Solar Dynamics Observatory mission, part of the Living With a Star program, will place a geosynchronous satellite in orbit to observe the Sun and relay data to a dedicated ground station at all times. SDO remains Sun- pointing throughout most of its mission for the instruments to take measurements of the Sun. The SDO attitude control system is a single-fault tolerant design. Its fully redundant attitude sensor complement includes 16 coarse Sun sensors, a digital Sun sensor, 3 two-axis inertial reference units, 2 star trackers, and 4 guide telescopes. Attitude actuation is performed using 4 reaction wheels and 8 thrusters, and a single main engine nominally provides velocity-change thrust. The attitude control software has five nominal control modes-3 wheel-based modes and 2 thruster-based modes. A wheel-based Safehold running in the attitude control electronics box improves the robustness of the system as a whole. All six modes are designed on the same basic proportional-integral-derivative attitude error structure, with more robust modes setting their integral gains to zero. The paper details the mode designs and their uses.

Goddard Space Flight Center (GSFC) Flight Dynamics Facility (FDF) calibration of the Upper Atmosphere Research Satellite (UARS) sensors

NASA Technical Reports Server (NTRS)

Hashmall, J.; Garrick, J.

1993-01-01

Flight Dynamics Facility (FDF) responsibilities for calibration of Upper Atmosphere Research Satellite (UARS) sensors included alignment calibration of the fixed-head star trackers (FHST's) and the fine Sun sensor (FSS), determination of misalignments and scale factors for the inertial reference units (IRU's), determination of biases for the three-axis magnetometers (TAM's) and Earth sensor assemblies (ESA's), determination of gimbal misalignments of the Solar/Stellar Pointing Platform (SSPP), and field-of-view calibration for the FSS's mounted both on the Modular Attitude Control System (MACS) and on the SSPP. The calibrations, which used a combination of new and established algorithms, gave excellent results. Alignment calibration results markedly improved the accuracy of both ground and onboard Computer (OBC) attitude determination. SSPP calibration results allowed UARS to identify stars in the period immediately after yaw maneuvers, removing the delay required for the OBC to reacquire its fine pointing attitude mode. SSPP calibration considerably improved the pointing accuracy of the attached science instrument package. This paper presents a summary of the methods used and the results of all FDF UARS sensor calibration.

Optimization-Based Sensor Fusion of GNSS and IMU Using a Moving Horizon Approach

PubMed Central

Girrbach, Fabian; Hol, Jeroen D.; Bellusci, Giovanni; Diehl, Moritz

2017-01-01

The rise of autonomous systems operating close to humans imposes new challenges in terms of robustness and precision on the estimation and control algorithms. Approaches based on nonlinear optimization, such as moving horizon estimation, have been shown to improve the accuracy of the estimated solution compared to traditional filter techniques. This paper introduces an optimization-based framework for multi-sensor fusion following a moving horizon scheme. The framework is applied to the often occurring estimation problem of motion tracking by fusing measurements of a global navigation satellite system receiver and an inertial measurement unit. The resulting algorithm is used to estimate position, velocity, and orientation of a maneuvering airplane and is evaluated against an accurate reference trajectory. A detailed study of the influence of the horizon length on the quality of the solution is presented and evaluated against filter-like and batch solutions of the problem. The versatile configuration possibilities of the framework are finally used to analyze the estimated solutions at different evaluation times exposing a nearly linear behavior of the sensor fusion problem. PMID:28534857

Optimization-Based Sensor Fusion of GNSS and IMU Using a Moving Horizon Approach.

PubMed

Girrbach, Fabian; Hol, Jeroen D; Bellusci, Giovanni; Diehl, Moritz

2017-05-19

The rise of autonomous systems operating close to humans imposes new challenges in terms of robustness and precision on the estimation and control algorithms. Approaches based on nonlinear optimization, such as moving horizon estimation, have been shown to improve the accuracy of the estimated solution compared to traditional filter techniques. This paper introduces an optimization-based framework for multi-sensor fusion following a moving horizon scheme. The framework is applied to the often occurring estimation problem of motion tracking by fusing measurements of a global navigation satellite system receiver and an inertial measurement unit. The resulting algorithm is used to estimate position, velocity, and orientation of a maneuvering airplane and is evaluated against an accurate reference trajectory. A detailed study of the influence of the horizon length on the quality of the solution is presented and evaluated against filter-like and batch solutions of the problem. The versatile configuration possibilities of the framework are finally used to analyze the estimated solutions at different evaluation times exposing a nearly linear behavior of the sensor fusion problem.

An Evaluation of Perceptions of Form, Fit, Function (F3) Standardization on the Standard Inertial Navigation Unit (STD INU) Program.

DTIC Science & Technology

1987-12-01

support durring the first few years of operations, which provides an incentive for such innovations and defers the acquisition of AGE until the equipment...along with number of standard avionics programs worked and the ranks of each individual. Table 5. Expierence With Avionics Standardization Years

Environmental Data Collection Using Autonomous Wave Gliders

DTIC Science & Technology

2014-12-01

Observing System IMU Inertial Measurement Unit LRI Liquid Robotics, Inc. MASFlux Marine-Air-Sea-Flux METOC meteorological and oceanographic...position, velocity, heading, pitch, roll , and six-axis acceleration rates (Figure 11). A separate temperature probe also provides sea surface...Position, Velocity, and Magnetic declination True North Revolution Technologies GS Gyro Stabilized Electronic Compass Heading, Pitch, and Roll

Space shuttle navigation analysis. Volume 2: Baseline system navigation

NASA Technical Reports Server (NTRS)

Jones, H. L.; Luders, G.; Matchett, G. A.; Rains, R. G.

1980-01-01

Studies related to the baseline navigation system for the orbiter are presented. The baseline navigation system studies include a covariance analysis of the Inertial Measurement Unit calibration and alignment procedures, postflight IMU error recovery for the approach and landing phases, on-orbit calibration of IMU instrument biases, and a covariance analysis of entry and prelaunch navigation system performance.

Local inertial oscillations in the surface ocean generated by time-varying winds

NASA Astrophysics Data System (ADS)

Chen, Shengli; Polton, Jeff A.; Hu, Jianyu; Xing, Jiuxing

2015-12-01

A new relationship is presented to give a review study on the evolution of inertial oscillations in the surface ocean locally generated by time-varying wind stress. The inertial oscillation is expressed as the superposition of a previous oscillation and a newly generated oscillation, which depends upon the time-varying wind stress. This relationship is employed to investigate some idealized wind change events. For a wind series varying temporally with different rates, the induced inertial oscillation is dominated by the wind with the greatest variation. The resonant wind, which rotates anti-cyclonically at the local inertial frequency with time, produces maximal amplitude of inertial oscillations, which grows monotonically. For the wind rotating at non-inertial frequencies, the responses vary periodically, with wind injecting inertial energy when it is in phase with the currents, but removing inertial energy when it is out of phase. The wind rotating anti-cyclonically with time is much more favorable to generate inertial oscillations than the cyclonic rotating wind. The wind with a frequency closer to the inertial frequency generates stronger inertial oscillations. For a diurnal wind, the induced inertial oscillation is dependent on latitude and is most significant at 30 °. This relationship is also applied to examine idealized moving cyclones. The inertial oscillation is much stronger on the right-hand side of the cyclone path than on the left-hand side (in the northern hemisphere). This is due to the wind being anti-cyclonic with time on the right-hand side, but cyclonic on the other side. The inertial oscillation varies with the cyclone translation speed. The optimal translation speed generating the greatest inertial oscillations is 2 m/s at the latitude of 10 ° and gradually increases to 6 m/s at the latitude of 30 °.

Integration of a synthetic vision system with airborne laser range scanner-based terrain referenced navigation for precision approach guidance

NASA Astrophysics Data System (ADS)

Uijt de Haag, Maarten; Campbell, Jacob; van Graas, Frank

2005-05-01

Synthetic Vision Systems (SVS) provide pilots with a virtual visual depiction of the external environment. When using SVS for aircraft precision approach guidance systems accurate positioning relative to the runway with a high level of integrity is required. Precision approach guidance systems in use today require ground-based electronic navigation components with at least one installation at each airport, and in many cases multiple installations to service approaches to all qualifying runways. A terrain-referenced approach guidance system is envisioned to provide precision guidance to an aircraft without the use of ground-based electronic navigation components installed at the airport. This autonomy makes it a good candidate for integration with an SVS. At the Ohio University Avionics Engineering Center (AEC), work has been underway in the development of such a terrain referenced navigation system. When used in conjunction with an Inertial Measurement Unit (IMU) and a high accuracy/resolution terrain database, this terrain referenced navigation system can provide navigation and guidance information to the pilot on a SVS or conventional instruments. The terrain referenced navigation system, under development at AEC, operates on similar principles as other terrain navigation systems: a ground sensing sensor (in this case an airborne laser scanner) gathers range measurements to the terrain; this data is then matched in some fashion with an onboard terrain database to find the most likely position solution and used to update an inertial sensor-based navigator. AEC's system design differs from today's common terrain navigators in its use of a high resolution terrain database (~1 meter post spacing) in conjunction with an airborne laser scanner which is capable of providing tens of thousands independent terrain elevation measurements per second with centimeter-level accuracies. When combined with data from an inertial navigator the high resolution terrain database and laser scanner system is capable of providing near meter-level horizontal and vertical position estimates. Furthermore, the system under development capitalizes on 1) The position and integrity benefits provided by the Wide Area Augmentation System (WAAS) to reduce the initial search space size and; 2) The availability of high accuracy/resolution databases. This paper presents results from flight tests where the terrain reference navigator is used to provide guidance cues for a precision approach.

Free-Inertial and Damped-Inertial Navigation Mechanization and Error Equations

DTIC Science & Technology

1975-04-18

AD-A014 356 FREE-INERTIAL AND DAMPED-INERTIAL NAVIGATION MECHANIZATION AND ERROR EQUATIONS Warren G. Heller Analytic Sciences Corporation Prepared...IHI IL JI -J THE ANALYTIC SCIENCES CORPORATION TR-312-1-1 FREE-INERTIAL AND DAMPED-INERTIAL NAViGATION MECHANIZATION AND ERROR EQUATIONS Ap~ril 18...PERIOO COVC/REO Fr-,- 1wer l and Dmped-Inertial Navigation Technical Mechanization and Error Equations 8/20-73 - 8/20/74 S. PjLtFORJ4djNjOjO, REPORT

Robotics handbook. Version 1: For the interested party and professional

NASA Astrophysics Data System (ADS)

1993-12-01

This publication covers several categories of information about robotics. The first section provides a brief overview of the field of Robotics. The next section provides a reasonably detailed look at the NASA Robotics program. The third section features a listing of companies and organization engaging in robotics or robotic-related activities; followed by a listing of associations involved in the field; followed by a listing of publications and periodicals which cover elements of robotics or related fields. The final section is an abbreviated abstract of referred journal material and other reference material relevant to the technology and science of robotics, including such allied fields as vision perception; three-space axis orientation and measurement systems and associated inertial reference technology and algorithms; and physical and mechanical science and technology related to robotics.

Robotics handbook. Version 1: For the interested party and professional

NASA Technical Reports Server (NTRS)

1993-01-01

This publication covers several categories of information about robotics. The first section provides a brief overview of the field of Robotics. The next section provides a reasonably detailed look at the NASA Robotics program. The third section features a listing of companies and organization engaging in robotics or robotic-related activities; followed by a listing of associations involved in the field; followed by a listing of publications and periodicals which cover elements of robotics or related fields. The final section is an abbreviated abstract of referred journal material and other reference material relevant to the technology and science of robotics, including such allied fields as vision perception; three-space axis orientation and measurement systems and associated inertial reference technology and algorithms; and physical and mechanical science and technology related to robotics.

A stellar tracking reference system

NASA Technical Reports Server (NTRS)

Klestadt, B.

1971-01-01

A stellar attitude reference system concept for satellites was studied which promises to permit continuous precision pointing of payloads with accuracies of 0.001 degree without the use of gyroscopes. It is accomplished with the use of a single, clustered star tracker assembly mounted on a non-orthogonal, two gimbal mechanism, driven so as to unwind satellite orbital and orbit precession rates. A set of eight stars was found which assures the presence of an adequate inertial reference on a continuous basis in an arbitrary orbit. Acquisition and operational considerations were investigated and inherent reference redundancy/reliability was established. Preliminary designs for the gimbal mechanism, its servo drive, and the star tracker cluster with its associated signal processing were developed for a baseline sun-synchronous, noon-midnight orbit. The functions required of the onboard computer were determined and the equations to be solved were found. In addition detailed error analyses were carried out, based on structural, thermal and other operational considerations.

Reference Frames in Earth Rotation Theories

NASA Astrophysics Data System (ADS)

Ferrándiz, José M.; Belda, Santiago; Heinkelmann, Robert; Getino, Juan; Schuh, Harald; Escapa, Alberto

2015-04-01

Nowadays the determination of the Earth Orientation Parameters (EOP) and the different Terrestrial Reference Frames (TRF) are not independent. The available theories of Earth rotation aims at providing the orientation of a certain reference system linked somehow to the Earth with respect to a given celestial system, considered as inertial. In the past years a considerable effort has been dedicated to the improvement of the TRF realizations, following the lines set up in the 1980's. However, the reference systems used in the derivation of the theories have been rather considered as something fully established, not deserving a special attention. In this contribution we review the definitions of the frames used in the main theoretical approaches, focusing on those used in the construction of IAU2000, and the extent to which their underlying hypotheses hold. The results are useful to determine the level of consistency of the predicted and determined EOP.

Alignment and Calibration of Optical and Inertial Sensors Using Stellar Observations

DTIC Science & Technology

2007-01-01

Force, Department of Defense, or the U.S Government. References [1] R. G. Brown and P. Y. Hwang . Introduction to Ran- dom Signals and Applied Kalman ...and stellar observations using an extended Kalman filter algorithm. The approach is verified using simulation and experimental data, and con- clusions...an extended Kalman filter (EKF) algorithm (see [10], [11]) to recur- sively estimate camera alignment and calibration param- eters by measuring the

A Quadrotor Sensor Platform

DTIC Science & Technology

2008-08-01

quadrotor with two planes of symmetry. As a reference, a blue flag was fixed to one arm to mark the tail. y z inertial frame x y z body frame x N...Vermont, 1976. [5] Charles Gablehouse. Helicopters and Autogiros. J. B. Lippencott Company, Philadelphia, 1969. [6] C. V. Glines. “The Flying Octopus ...and Darryll J. Pines. “Characterization of Ring Laser Gyro Performance Using the Allan Variance Method”. Journal of Guidance, Control, and Dynamics, vol

Inertial Properties of an External-Frame Backpack Device

DTIC Science & Technology

2003-04-10

for designers (NASA Reference Publication 1024) (pp. IV-l-IV- 76). Yellow Springs, OH: Anthropology Research Project. Serway , R.A. (1990), Physics for...for use in studying the effects of the weight carried and the distribution of the weight on the physical performance of soldiers. The backpack was...soldier’s health and ability to perform physical activities, we thought it important to measure the MOI of the backpack device in the nine different

When equal masses don't balance

NASA Astrophysics Data System (ADS)

Newburgh, Ronald; Peidle, Joseph; Rueckner, Wolfgang

2004-05-01

We treat a modified Atwood's machine in which equal masses do not balance because of being in an accelerated frame of reference. Analysis of the problem illuminates the meaning of inertial forces, d'Alembert's principle, the use of free-body diagrams and the selection of appropriate systems for the diagrams. In spite of the range of these applications the analysis does not require calculus, so the ideas are accessible even to first-year students.

Inertial Response of Wind Power Plants: A Comparison of Frequency-Based Inertial Control and Stepwise Inertial Control

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wang, Xiao; Gao, Wenzhong; Wang, Jianhui

The frequency regulation capability of a wind power plant plays an important role in enhancing frequency reliability especially in an isolated power system with high wind power penetration levels. A comparison of two types of inertial control methods, namely frequency-based inertial control (FBIC) and stepwise inertial control (SIC), is presented in this paper. Comprehensive case studies are carried out to reveal features of the different inertial control methods, simulated in a modified Western System Coordination Council (WSCC) nine-bus power grid using real-time digital simulator (RTDS) platform. The simulation results provide an insight into the inertial control methods under various scenarios.

Investigation of Air Transportation Technology at Ohio University, 1989-1990

NASA Technical Reports Server (NTRS)

Lilley, Robert W.

1990-01-01

The activities of the participants in the Joint University Program (JUP) at Ohio University are briefly surveyed. During 1989 to 1990, five topics received emphasis. A spectrum-efficient weather data uplink system was designed, constructed, and flight tested. An integrated Global Positioning System/Inertial Navigation System (GPS/INS) study continued, utilizing the Redundant strapdown Inertial Measurement Unit (IMU) on loan from NASA. The Ridge Regression theory was refined and applied to air navigation scenarios. System Identification theory was applied to GPS data to point the way to better understanding of the effects of Selective Availability on civilian users of this navigation system. An analysis of thought-related (electroencephalographic) signals for application to control of computer systems that could have significance in aiding paraplegics or for hands-off systems control in industrial or air traffic control areas was carried out.

Loose and Tight GNSS/INS Integrations: Comparison of Performance Assessed in Real Urban Scenarios.

PubMed

Falco, Gianluca; Pini, Marco; Marucco, Gianluca

2017-01-29

Global Navigation Satellite Systems (GNSSs) remain the principal mean of positioning in many applications and systems, but in several types of environment, the performance of standalone receivers is degraded. Although many works show the benefits of the integration between GNSS and Inertial Navigation Systems (INSs), tightly-coupled architectures are mainly implemented in professional devices and are based on high-grade Inertial Measurement Units (IMUs). This paper investigates the performance improvements enabled by the tight integration, using low-cost sensors and a mass-market GNSS receiver. Performance is assessed through a series of tests carried out in real urban scenarios and is compared against commercial modules, operating in standalone mode or featuring loosely-coupled integrations. The paper describes the developed tight-integration algorithms with a terse mathematical model and assesses their efficacy from a practical perspective.

A New Proposal to Redefine Kilogram by Measuring the Planck Constant Based on Inertial Mass

NASA Astrophysics Data System (ADS)

Liu, Yongmeng; Wang, Dawei

2018-04-01

A novel method to measure the Planck constant based on inertial mass is proposed here, which is distinguished from the conventional Kibble balance experiment which is based on the gravitational mass. The kilogram unit is linked to the Planck constant by calculating the difference of the parameters, i.e. resistance, voltage, velocity and time, which is measured in a two-mode experiment, unloaded mass mode and the loaded mass mode. In principle, all parameters measured in this experiment can reach a high accuracy, as that in Kibble balance experiment. This method has an advantage that some systematic error can be eliminated in difference calculation of measurements. In addition, this method is insensitive to air buoyancy and the alignment work in this experiment is easy. At last, the initial design of the apparatus is presented.

Orbiter CIU/IUS communications hardware evaluation

NASA Technical Reports Server (NTRS)

Huth, G. K.

1979-01-01

The DOD and NASA inertial upper stage communication system design, hardware specifications and interfaces were analyzed to determine their compatibility with the Orbiter payload communications equipment (Payload Interrogator, Payload Signal Processors, Communications Interface Unit, and the Orbiter operational communications equipment (the S-Band and Ku-band systems). Topics covered include (1) IUS/shuttle Orbiter communications interface definition; (2) Orbiter avionics equipment serving the IUS; (3) IUS communication equipment; (4) IUS/shuttle Orbiter RF links; (5) STDN/TDRS S-band related activities; and (6) communication interface unit/Orbiter interface issues. A test requirement plan overview is included.

Validity of Hip-worn Inertial Measurement Unit Compared to Jump Mat for Jump Height Measurement in Adolescents.

PubMed

Rantalainen, T; Hesketh, K D; Rodda, C; Duckham, R L

2018-06-16

Jump tests assess lower body power production capacity, and can be used to evaluate athletic ability and development during growth. Wearable inertial measurement units (IMU) seem to offer a feasible alternative to laboratory-based equipment for jump height assessments. Concurrent validity of these devices for jump height assessments has only been established in adults. Therefore, the purpose of this study was to evaluate the concurrent validity of IMU-based jump height estimate compared to contact mat-based jump height estimate in adolescents. Ninety-five adolescents (10-13 years-of-age; girls N=41, height = 154 (SD 9) cm, weight = 44 (11) kg; boys N=54, height=156 (10) cm, weight = 46 (13) kg) completed three counter-movement jumps for maximal jump height on a contact mat. Inertial recordings (accelerations, rotations) were concurrently recorded with a hip-worn IMU (sampling at 256 Hz). Jump height was evaluated based on flight time. The mean IMU-derived jump height was 27.1 (SD 3.8) cm, and the corresponding mean jump-mat-derived value was 21.5 (3.4) cm. While a significant 26% mean difference was observed between the methods (5.5 [95% limits of agreement 2.2 to 8.9] cm, p = 0.006), the correspondence between methods was excellent (ICC = 0.89). The difference between methods was weakly positively associated with jump height (r = 0.28, P = 0.007). Take-off velocity derived jump height was also explored but produced only fair congruence. In conclusion, IMU-derived jump height exhibited excellent congruence to contact mat-based jump height and therefore presents a feasible alternative for jump height assessments in adolescents. This article is protected by copyright. All rights reserved. This article is protected by copyright. All rights reserved.

Final STS-35 Columbia descent BET products and results for LaRC OEX investigations

NASA Technical Reports Server (NTRS)

Oakes, Kevin F.; Findlay, John T.; Jasinski, Rachel A.; Wood, James S.

1991-01-01

Final STS-35 'Columbia' descent Best Estimate Trajectory (BET) products have been developed for Langley Research Center (LaRC) Orbiter Experiments (OEX) investigations. Included are the reconstructed inertial trajectory profile; the Extended BET, which combines the inertial data and, in this instance, the National Weather Service atmospheric information obtained via Johnson Space Center; and the Aerodynamic BET. The inertial BET utilized Inertial Measurement Unit 1 (IMU1) dynamic measurements for deterministic propagation during the ENTREE estimation process. The final estimate was based on the considerable ground based C-band tracking coverage available as well as Tracking Data and Relay Satellite System (TDRSS) Doppler data, a unique use of the latter for endo-atmospheric flight determinations. The actual estimate required simultaneous solutions for the spacecraft position and velocity, spacecraft attitude, and six IMU parameters - three gyro biases and three accelerometer scale factor correction terms. The anchor epoch for this analysis was 19,200 Greenwich Mean Time (GMT) seconds which corresponds to an initial Shuttle altitude of approximately 513 kft. The atmospheric data incorporated were evaluated based on Shuttle derived considerations as well as comparisons with other models. The AEROBET was developed based on the Extended BET, the measured spacecraft configuration information, final mass properties, and the final Orbiter preoperation databook. The latter was updated based on aerodynamic consensus incrementals derived by the latest published FAD. The rectified predictions were compared versus the flight computed values and the resultant differences were correlated versus ensemble results for twenty-two previous STS entry flights.

A sensor fusion method for tracking vertical velocity and height based on inertial and barometric altimeter measurements.

PubMed

Sabatini, Angelo Maria; Genovese, Vincenzo

2014-07-24

A sensor fusion method was developed for vertical channel stabilization by fusing inertial measurements from an Inertial Measurement Unit (IMU) and pressure altitude measurements from a barometric altimeter integrated in the same device (baro-IMU). An Extended Kalman Filter (EKF) estimated the quaternion from the sensor frame to the navigation frame; the sensed specific force was rotated into the navigation frame and compensated for gravity, yielding the vertical linear acceleration; finally, a complementary filter driven by the vertical linear acceleration and the measured pressure altitude produced estimates of height and vertical velocity. A method was also developed to condition the measured pressure altitude using a whitening filter, which helped to remove the short-term correlation due to environment-dependent pressure changes from raw pressure altitude. The sensor fusion method was implemented to work on-line using data from a wireless baro-IMU and tested for the capability of tracking low-frequency small-amplitude vertical human-like motions that can be critical for stand-alone inertial sensor measurements. Validation tests were performed in different experimental conditions, namely no motion, free-fall motion, forced circular motion and squatting. Accurate on-line tracking of height and vertical velocity was achieved, giving confidence to the use of the sensor fusion method for tracking typical vertical human motions: velocity Root Mean Square Error (RMSE) was in the range 0.04-0.24 m/s; height RMSE was in the range 5-68 cm, with statistically significant performance gains when the whitening filter was used by the sensor fusion method to track relatively high-frequency vertical motions.

The Impact of Emerging MEMS-Based Microsystems on US Defense Applications

DOE Office of Scientific and Technical Information (OSTI.GOV)

STAPLE,BEVAN D.; JAKUBCZAK II,JEROME F.

2000-01-20

This paper examines the impact of inserting Micro-Electro-Mechanical Systems (MEMS) into US defense applications. As specific examples, the impacts of micro Inertial Measurement Units (IMUs), radio frequency MEMS (RF MEMS), and Micro-Opto-Electro-Mechanical Systems (MOEMS) to provide integrated intelligence, communication, and control to the defense infrastructure with increased affordability, functionality, and performance are highlighted.

Algorithmic Approaches for Place Recognition in Featureless, Walled Environments

DTIC Science & Technology

2015-01-01

inertial measurement unit LIDAR light detection and ranging RANSAC random sample consensus SLAM simultaneous localization and mapping SUSAN smallest...algorithm 38 21 Typical input image for general junction based algorithm 39 22 Short exposure image of hallway junction taken by LIDAR 40 23...discipline of simultaneous localization and mapping ( SLAM ) has been studied intensively over the past several years. Many technical approaches

A Highly Miniaturized, Wireless Inertial Measurement Unit for Characterizing the Dynamics of Pitched Baseballs and Softballs

PubMed Central

McGinnis, Ryan S.; Perkins, Noel C.

2012-01-01

Baseball and softball pitch types are distinguished by the path and speed of the ball which, in turn, are determined by the angular velocity of the ball and the velocity of the ball center at the instant of release from the pitcher's hand. While radar guns and video-based motion capture (mocap) resolve ball speed, they provide little information about how the angular velocity of the ball and the velocity of the ball center develop and change during the throwing motion. Moreover, mocap requires measurements in a controlled lab environment and by a skilled technician. This study addresses these shortcomings by introducing a highly miniaturized, wireless inertial measurement unit (IMU) that is embedded in both baseballs and softballs. The resulting “ball-embedded” sensor resolves ball dynamics right on the field of play. Experimental results from ten pitches, five thrown by one softball pitcher and five by one baseball pitcher, demonstrate that this sensor technology can deduce the magnitude and direction of the ball's velocity at release to within 4.6% of measurements made using standard mocap. Moreover, the IMU directly measures the angular velocity of the ball, which further enables the analysis of different pitch types.

Android Platform for Realtime Gait Tracking Using Inertial Measurement Units.

PubMed

Aqueveque, Pablo; Sobarzo, Sergio; Saavedra, Francisco; Maldonado, Claudio; Gómez, Britam

2016-06-13

One of the most important movements performed by the humans is gait. Biomechanical Gait analysis is usually by optical capture systems. However, such systems are expensive and sensitive to light and obstacles. In order to reduce those costs a system based on Inertial Measurements Units (IMU) is proposed. IMU are a good option to make movement analisys indoor with a low post-processing data, allowing to connect those systems to an Android platform. The design is based on two elements: a) The IMU sensors and the b) Android device. The IMU sensor is simple, small (35 x 35 mm), portable and autonomous (7.8 hrs). A resolution of 0.01° in their measurements is obtained, and sends data via Bluetooth link. The Android application works for Android 4.2 or higher, and it is compatible with Bluetooth devices 2.0 or higher. Three IMU sensors send data to a Tablet wirelessly, in order to evaluate the angles evolution for each joint of the leg (hip, knee and ankle). This information is used to calculate gait index and evaluate the gait quality online during the physical therapist is working with the patient.

A simple demonstration when studying the equivalence principle

NASA Astrophysics Data System (ADS)

Mayer, Valery; Varaksina, Ekaterina

2016-06-01

The paper proposes a lecture experiment that can be demonstrated when studying the equivalence principle formulated by Albert Einstein. The demonstration consists of creating stroboscopic photographs of a ball moving along a parabola in Earth's gravitational field. In the first experiment, a camera is stationary relative to Earth's surface. In the second, the camera falls freely downwards with the ball, allowing students to see that the ball moves uniformly and rectilinearly relative to the frame of reference of the freely falling camera. The equivalence principle explains this result, as it is always possible to propose an inertial frame of reference for a small region of a gravitational field, where space-time effects of curvature are negligible.

On the establishment and maintenance of a modern conventional terrestrial reference system

NASA Technical Reports Server (NTRS)

Bock, Y.; Zhu, S. Y.

1982-01-01

The frame of the Conventional Terrestrial Reference System (CTS) is defined by an adopted set of coordinates, at a fundamental epoxh, of a global network of stations which contribute the vertices of a fundamental polyhedron. A method to estimate this set of coordinates using a combination of modern three dimensional geodetic systems is presented. Once established, the function of the CTS is twofold. The first is to monitor the external (or global) motions of the polyhedron with respect to the frame of a Conventional Inertial Reference System, i.e., those motions common to all stations. The second is to monitor the internal motions (or deformations) of the polyhedron, i.e., those motions that are not common to all stations. Two possible estimators for use in earth deformation analysis are given and their statistical and physical properties are described.

Inertial Energy Storage for Spacecraft

NASA Technical Reports Server (NTRS)

Rodriguez, G. E.

1984-01-01

The feasibility of inertial energy storage in a spacecraft power system is evaluated on the basis of a conceptual integrated design that encompasses a composite rotor, magnetic suspension and a permanent magnet (PM) motor/generator for a 3-kW orbital average payload at a bus distribution voltage of 250 volts dc. The conceptual design, is referred to as a Mechanical Capacitor. The baseline power system configuration selected is a series system employing peak-power-tracking for a Low Earth-Orbiting application. Power processing, required in the motor/generator, provides potential alternative that can only be achieved in systems with electrochemical energy storage by the addition of power processing components. One such alternative configuration provides for peak-power-tracking of the solar array and still maintains a regulated bus, without the expense of additional power processing components. Precise speed control of the two counterrotating wheels is required to reduce interaction with the attitude control system (ACS) or alternatively, used to perform attitude control functions.

The effect of inertial coupling in the dynamics and control of flexible robotic manipulators

NASA Technical Reports Server (NTRS)

Tesar, Delbert; Curran, Carol Cockrell; Graves, Philip Lee

1988-01-01

A general model of the dynamics of flexible robotic manipulators is presented, including the gross motion of the links, the vibrations of the links and joints, and the dynamic coupling between the gross motions and vibrations. The vibrations in the links may be modeled using lumped parameters, truncated modal summation, a component mode synthesis method, or a mixture of these methods. The local link inertia matrix is derived to obtain the coupling terms between the gross motion of the link and the vibrations of the link. Coupling between the motions of the links results from the kinematic model, which utilizes the method of kinematic influence. The model is used to simulate the dynamics of a flexible space-based robotic manipulator which is attached to a spacecraft, and is free to move with respect to the inertial reference frame. This model may be used to study the dynamic response of the manipulator to the motions of its joints, or to externally applied disturbances.

An experimental protocol for the definition of upper limb anatomical frames on children using magneto-inertial sensors.

PubMed

Ricci, L; Formica, D; Tamilia, E; Taffoni, F; Sparaci, L; Capirci, O; Guglielmelli, E

2013-01-01

Motion capture based on magneto-inertial sensors is a technology enabling data collection in unstructured environments, allowing "out of the lab" motion analysis. This technology is a good candidate for motion analysis of children thanks to the reduced weight and size as well as the use of wireless communication that has improved its wearability and reduced its obtrusivity. A key issue in the application of such technology for motion analysis is its calibration, i.e. a process that allows mapping orientation information from each sensor to a physiological reference frame. To date, even if there are several calibration procedures available for adults, no specific calibration procedures have been developed for children. This work addresses this specific issue presenting a calibration procedure for motion capture of thorax and upper limbs on healthy children. Reported results suggest comparable performance with similar studies on adults and emphasize some critical issues, opening the way to further improvements.

A Mathematical Model of the Inertial Properties of a Carrier-Backpack System. Volume IV

DTIC Science & Technology

1982-05-01

B.S., and Richard C. Nelson, Ph.D. 9. PERFORMING OR3ANIZATION NAME AND ADDRESS 10. PROGRAM ELEMENT, PROJECT, TASK BIomechanics Labo-atory AREA 6 WORK...Recommendations for rarther Study 30 Cited References 31 Appendices A. Clothing and Equipment Used in This Study 33 B. IMSL Policy Statement 49 C. The Biomechanica... biomechanics , researchers use a variety of research techn iques to evaluate various aspects of physical performance. Mathematical modeling is one

Astrometry VLBI in Space (AVS)

NASA Technical Reports Server (NTRS)

Cheng, Li-Jen; Reyes, George

1995-01-01

This paper describes a proposal for a new space radio astronomy mission for astrometry using Very Long Baseline Interferometry (VLBI) called Astrometry VLBI in Space (AVS). The ultimate goals of AVS are improving the accuracy of radio astrometry measurements to the microarcsecond level in one epoch of measurements and improving the accuracy of the transformation between the inertial radio and optical coordinate reference frames. This study will also assess the impact of this mission on astrophysics astrometry and geophysics.

Effects of Inertial Power and Inertial Force on Bat Wings.

PubMed

Yin, Dongfu; Zhang, Zhisheng; Dai, Min

2016-06-01

The inertial power and inertial force of wings are important factors in evaluating the flight performance of native bats. Based on measurement data of wing size and motions of Eptesicus fuscus, we present a new computational bat wing model with divided fragments of skeletons and membrane. The motions of the model were verified by comparing the joint and tip trajectories with native bats. The influences of flap, sweep, elbow, wrist and digits motions, the effects of different bones and membrane of bat wing, the components on vertical, spanwise and fore-aft directions of the inertial power and force were analyzed. Our results indicate that the flap, sweep, and elbow motions contribute the main inertial power and force; the membrane occupies an important proportion of the inertial power and force; inertial power on flap direction was larger, while variations of inertial forces on different directions were not evident. These methods and results offer insights into flight dynamics in other flying animals and may contribute to the design of future robotic bats.

A vector-based failure detection and isolation algorithm for a dual fail-operational redundant strapdown inertial measurement unit

NASA Technical Reports Server (NTRS)

Morrell, Frederick R.; Bailey, Melvin L.

1987-01-01

A vector-based failure detection and isolation technique for a skewed array of two degree-of-freedom inertial sensors is developed. Failure detection is based on comparison of parity equations with a threshold, and isolation is based on comparison of logic variables which are keyed to pass/fail results of the parity test. A multi-level approach to failure detection is used to ensure adequate coverage for the flight control, display, and navigation avionics functions. Sensor error models are introduced to expose the susceptibility of the parity equations to sensor errors and physical separation effects. The algorithm is evaluated in a simulation of a commercial transport operating in a range of light to severe turbulence environments. A bias-jump failure level of 0.2 deg/hr was detected and isolated properly in the light and moderate turbulence environments, but not detected in the extreme turbulence environment. An accelerometer bias-jump failure level of 1.5 milli-g was detected over all turbulence environments. For both types of inertial sensor, hard-over, and null type failures were detected in all environments without incident. The algorithm functioned without false alarm or isolation over all turbulence environments for the runs tested.

Benefits of combined GPS/GLONASS with low-cost MEMS IMUs for vehicular urban navigation.

PubMed

Angrisano, Antonio; Petovello, Mark; Pugliano, Giovanni

2012-01-01

The integration of Global Navigation Satellite Systems (GNSS) with Inertial Navigation Systems (INS) has been very actively researched for many years due to the complementary nature of the two systems. In particular, during the last few years the integration with micro-electromechanical system (MEMS) inertial measurement units (IMUs) has been investigated. In fact, recent advances in MEMS technology have made possible the development of a new generation of low cost inertial sensors characterized by small size and light weight, which represents an attractive option for mass-market applications such as vehicular and pedestrian navigation. However, whereas there has been much interest in the integration of GPS with a MEMS-based INS, few research studies have been conducted on expanding this application to the revitalized GLONASS system. This paper looks at the benefits of adding GLONASS to existing GPS/INS(MEMS) systems using loose and tight integration strategies. The relative benefits of various constraints are also assessed. Results show that when satellite visibility is poor (approximately 50% solution availability) the benefits of GLONASS are only seen with tight integration algorithms. For more benign environments, a loosely coupled GPS/GLONASS/INS system offers performance comparable to that of a tightly coupled GPS/INS system, but with reduced complexity and development time.

Autonomous Quality Control of Joint Orientation Measured with Inertial Sensors.

PubMed

Lebel, Karina; Boissy, Patrick; Nguyen, Hung; Duval, Christian

2016-07-05

Clinical mobility assessment is traditionally performed in laboratories using complex and expensive equipment. The low accessibility to such equipment, combined with the emerging trend to assess mobility in a free-living environment, creates a need for body-worn sensors (e.g., inertial measurement units-IMUs) that are capable of measuring the complexity in motor performance using meaningful measurements, such as joint orientation. However, accuracy of joint orientation estimates using IMUs may be affected by environment, the joint tracked, type of motion performed and velocity. This study investigates a quality control (QC) process to assess the quality of orientation data based on features extracted from the raw inertial sensors' signals. Joint orientation (trunk, hip, knee, ankle) of twenty participants was acquired by an optical motion capture system and IMUs during a variety of tasks (sit, sit-to-stand transition, walking, turning) performed under varying conditions (speed, environment). An artificial neural network was used to classify good and bad sequences of joint orientation with a sensitivity and a specificity above 83%. This study confirms the possibility to perform QC on IMU joint orientation data based on raw signal features. This innovative QC approach may be of particular interest in a big data context, such as for remote-monitoring of patients' mobility.

Loose Coupling of Wearable-Based INSs with Automatic Heading Evaluation

PubMed Central

Munoz Diaz, Estefania

2017-01-01

Position tracking of pedestrians by means of inertial sensors is a highly explored field of research. In fact, there are already many approaches to implement inertial navigation systems (INSs). However, most of them use a single inertial measurement unit (IMU) attached to the pedestrian’s body. Since wearable-devices will be given items in the future, this work explores the implementation of an INS using two wearable-based IMUs. A loosely coupled approach is proposed to combine the outputs of wearable-based INSs. The latter are based on a pocket-mounted IMU and a foot-mounted IMU. The loosely coupled fusion combines the output of the two INSs not only when these outputs are least erroneous, but also automatically favoring the best output. This approach is named smart update. The main challenge is determining the quality of the heading estimation of each INS, which changes every time. In order to address this, a novel concept to determine the quality of the heading estimation is presented. This concept is subject to a patent application. The results show that the position error rate of the loosely coupled fusion is 10 cm/s better than either the foot INS’s or pocket INS’s error rate in 95% of the cases. PMID:29099807

Coupled Integration of CSAC, MIMU, and GNSS for Improved PNT Performance

PubMed Central

Ma, Lin; You, Zheng; Liu, Tianyi; Shi, Shuai

2016-01-01

Positioning, navigation, and timing (PNT) is a strategic key technology widely used in military and civilian applications. Global navigation satellite systems (GNSS) are the most important PNT techniques. However, the vulnerability of GNSS threatens PNT service quality, and integrations with other information are necessary. A chip scale atomic clock (CSAC) provides high-precision frequency and high-accuracy time information in a short time. A micro inertial measurement unit (MIMU) provides a strap-down inertial navigation system (SINS) with rich navigation information, better real-time feed, anti-jamming, and error accumulation. This study explores the coupled integration of CSAC, MIMU, and GNSS to enhance PNT performance. The architecture of coupled integration is designed and degraded when any subsystem fails. A mathematical model for a precise time aiding navigation filter is derived rigorously. The CSAC aids positioning by weighted linear optimization when the visible satellite number is four or larger. By contrast, CSAC converts the GNSS observations to range measurements by “clock coasting” when the visible satellite number is less than four, thereby constraining the error divergence of micro inertial navigation and improving the availability of GNSS signals and the positioning accuracy of the integration. Field vehicle experiments, both in open-sky area and in a harsh environment, show that the integration can improve the positioning probability and accuracy. PMID:27187399

Tightly coupled integration of ionosphere-constrained precise point positioning and inertial navigation systems.

PubMed

Gao, Zhouzheng; Zhang, Hongping; Ge, Maorong; Niu, Xiaoji; Shen, Wenbin; Wickert, Jens; Schuh, Harald

2015-03-10

The continuity and reliability of precise GNSS positioning can be seriously limited by severe user observation environments. The Inertial Navigation System (INS) can overcome such drawbacks, but its performance is clearly restricted by INS sensor errors over time. Accordingly, the tightly coupled integration of GPS and INS can overcome the disadvantages of each individual system and together form a new navigation system with a higher accuracy, reliability and availability. Recently, ionosphere-constrained (IC) precise point positioning (PPP) utilizing raw GPS observations was proven able to improve both the convergence and positioning accuracy of the conventional PPP using ionosphere-free combined observations (LC-PPP). In this paper, a new mode of tightly coupled integration, in which the IC-PPP instead of LC-PPP is employed, is implemented to further improve the performance of the coupled system. We present the detailed mathematical model and the related algorithm of the new integration of IC-PPP and INS. To evaluate the performance of the new tightly coupled integration, data of both airborne and vehicle experiments with a geodetic GPS receiver and tactical grade inertial measurement unit are processed and the results are analyzed. The statistics show that the new approach can further improve the positioning accuracy compared with both IC-PPP and the tightly coupled integration of the conventional PPP and INS.

A Robust Self-Alignment Method for Ship's Strapdown INS Under Mooring Conditions

PubMed Central

Sun, Feng; Lan, Haiyu; Yu, Chunyang; El-Sheimy, Naser; Zhou, Guangtao; Cao, Tong; Liu, Hang

2013-01-01

Strapdown inertial navigation systems (INS) need an alignment process to determine the initial attitude matrix between the body frame and the navigation frame. The conventional alignment process is to compute the initial attitude matrix using the gravity and Earth rotational rate measurements. However, under mooring conditions, the inertial measurement unit (IMU) employed in a ship's strapdown INS often suffers from both the intrinsic sensor noise components and the external disturbance components caused by the motions of the sea waves and wind waves, so a rapid and precise alignment of a ship's strapdown INS without any auxiliary information is hard to achieve. A robust solution is given in this paper to solve this problem. The inertial frame based alignment method is utilized to adapt the mooring condition, most of the periodical low-frequency external disturbance components could be removed by the mathematical integration and averaging characteristic of this method. A novel prefilter named hidden Markov model based Kalman filter (HMM-KF) is proposed to remove the relatively high-frequency error components. Different from the digital filters, the HMM-KF barely cause time-delay problem. The turntable, mooring and sea experiments favorably validate the rapidness and accuracy of the proposed self-alignment method and the good de-noising performance of HMM-KF. PMID:23799492

Validity of the Instrumented Push and Release Test to Quantify Postural Responses in Persons With Multiple Sclerosis.

PubMed

El-Gohary, Mahmoud; Peterson, Daniel; Gera, Geetanjali; Horak, Fay B; Huisinga, Jessie M

2017-07-01

To test the validity of wearable inertial sensors to provide objective measures of postural stepping responses to the push and release clinical test in people with multiple sclerosis. Cross-sectional study. University medical center balance disorder laboratory. Total sample N=73; persons with multiple sclerosis (PwMS) n=52; healthy controls n=21. Stepping latency, time and number of steps required to reach stability, and initial step length were calculated using 3 inertial measurement units placed on participants' lumbar spine and feet. Correlations between inertial sensor measures and measures obtained from the laboratory-based systems were moderate to strong and statistically significant for all variables: time to release (r=.992), latency (r=.655), time to stability (r=.847), time of first heel strike (r=.665), number of steps (r=.825), and first step length (r=.592). Compared with healthy controls, PwMS demonstrated a longer time to stability and required a larger number of steps to reach stability. The instrumented push and release test is a valid measure of postural responses in PwMS and could be used as a clinical outcome measures for patient care decisions or for clinical trials aimed at improving postural control in PwMS. Copyright © 2016 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

Coupled Integration of CSAC, MIMU, and GNSS for Improved PNT Performance.

PubMed

Ma, Lin; You, Zheng; Liu, Tianyi; Shi, Shuai

2016-05-12

Positioning, navigation, and timing (PNT) is a strategic key technology widely used in military and civilian applications. Global navigation satellite systems (GNSS) are the most important PNT techniques. However, the vulnerability of GNSS threatens PNT service quality, and integrations with other information are necessary. A chip scale atomic clock (CSAC) provides high-precision frequency and high-accuracy time information in a short time. A micro inertial measurement unit (MIMU) provides a strap-down inertial navigation system (SINS) with rich navigation information, better real-time feed, anti-jamming, and error accumulation. This study explores the coupled integration of CSAC, MIMU, and GNSS to enhance PNT performance. The architecture of coupled integration is designed and degraded when any subsystem fails. A mathematical model for a precise time aiding navigation filter is derived rigorously. The CSAC aids positioning by weighted linear optimization when the visible satellite number is four or larger. By contrast, CSAC converts the GNSS observations to range measurements by "clock coasting" when the visible satellite number is less than four, thereby constraining the error divergence of micro inertial navigation and improving the availability of GNSS signals and the positioning accuracy of the integration. Field vehicle experiments, both in open-sky area and in a harsh environment, show that the integration can improve the positioning probability and accuracy.

Inertial effects on heat transfer in superhydrophobic microchannels

NASA Astrophysics Data System (ADS)

Cowley, Adam; Maynes, Daniel; Crockett, Julie; Iverson, Brian; BYU Fluids Team

2015-11-01

This work numerically studies the effects of inertia on thermal transport in superhydrophbic microchannels. An infinite parallel plate channel comprised of structured superhydrophbic walls is considered. The structure of the superhydrophobic surfaces consists of square pillars organized in a square array aligned with the flow direction. Laminar, fully developed flow is explored. The flow is assumed to be non-wetting and have an idealized flat meniscus. A shear-free, adiabatic boundary condition is used at the liquid/gas interface, while a no-slip, constant heat flux condition is used at the liquid/solid interface. A wide range of Peclet numbers, relative channel spacing distances, and relative pillar sizes are considered. Results are presented in terms of Poiseuille number, Nusselt number, hydrodynamic slip length, and temperature jump length. Interestingly, the thermal transport is varied only slightly by inertial effects for a wide range of parameters explored and compares well with other analytical and numerical work that assumed Stokes flow. It is only for very small relative channel spacing and large Peclet number that inertial effects exert significant influence. Overall, the heat transfer is reduced for the superhydrophbic channels in comparison to classic smooth walled channels. This research was supported by the National Science Foundation (NSF) - United States (Grant No. CBET-1235881).

Testing the assumption of normality in body sway area calculations during unipedal stance tests with an inertial sensor.

PubMed

Kyoung Jae Kim; Lucarevic, Jennifer; Bennett, Christopher; Gaunaurd, Ignacio; Gailey, Robert; Agrawal, Vibhor

2016-08-01

The quantification of postural sway during the unipedal stance test is one of the essentials of posturography. A shift of center of pressure (CoP) is an indirect measure of postural sway and also a measure of a person's ability to maintain balance. A widely used method in laboratory settings to calculate the sway of body center of mass (CoM) is through an ellipse that encloses 95% of CoP trajectory. The 95% ellipse can be computed under the assumption that the spatial distribution of the CoP points recorded from force platforms is normal. However, to date, this assumption of normality has not been demonstrated for sway measurements recorded from a sacral inertial measurement unit (IMU). This work provides evidence for non-normality of sway trajectories calculated at a sacral IMU with injured subjects as well as healthy subjects.

Spiral-Based Phononic Plates: From Wave Beaming to Topological Insulators

NASA Astrophysics Data System (ADS)

Foehr, André; Bilal, Osama R.; Huber, Sebastian D.; Daraio, Chiara

2018-05-01

Phononic crystals and metamaterials can sculpt elastic waves, controlling their dispersion using different mechanisms. These mechanisms are mostly Bragg scattering, local resonances, and inertial amplification, derived from ad hoc, often problem-specific geometries of the materials' building blocks. Here, we present a platform that ultilizes a lattice of spiraling unit cells to create phononic materials encompassing Bragg scattering, local resonances, and inertial amplification. We present two examples of phononic materials that can control waves with wavelengths much larger than the lattice's periodicity. (1) A wave beaming plate, which can beam waves at arbitrary angles, independent of the lattice vectors. We show that the beaming trajectory can be continuously tuned, by varying the driving frequency or the spirals' orientation. (2) A topological insulator plate, which derives its properties from a resonance-based Dirac cone below the Bragg limit of the structured lattice of spirals.

Geometric correction of synchronous scanned Operational Modular Imaging Spectrometer II hyperspectral remote sensing images using spatial positioning data of an inertial navigation system

NASA Astrophysics Data System (ADS)

Zhou, Xiaohu; Neubauer, Franz; Zhao, Dong; Xu, Shichao

2015-01-01

The high-precision geometric correction of airborne hyperspectral remote sensing image processing was a hard nut to crack, and conventional methods of remote sensing image processing by selecting ground control points to correct the images are not suitable in the correction process of airborne hyperspectral image. The optical scanning system of an inertial measurement unit combined with differential global positioning system (IMU/DGPS) is introduced to correct the synchronous scanned Operational Modular Imaging Spectrometer II (OMIS II) hyperspectral remote sensing images. Posture parameters, which were synchronized with the OMIS II, were first obtained from the IMU/DGPS. Second, coordinate conversion and flight attitude parameters' calculations were conducted. Third, according to the imaging principle of OMIS II, mathematical correction was applied and the corrected image pixels were resampled. Then, better image processing results were achieved.

The limb movement analysis of rehabilitation exercises using wearable inertial sensors.

PubMed

Bingquan Huang; Giggins, Oonagh; Kechadi, Tahar; Caulfield, Brian

2016-08-01

Due to no supervision of a therapist in home based exercise programs, inertial sensor based feedback systems which can accurately assess movement repetitions are urgently required. The synchronicity and the degrees of freedom both show that one movement might resemble another movement signal which is mixed in with another not precisely defined movement. Therefore, the data and feature selections are important for movement analysis. This paper explores the data and feature selection for the limb movement analysis of rehabilitation exercises. The results highlight that the classification accuracy is very sensitive to the mount location of the sensors. The results show that the use of 2 or 3 sensor units, the combination of acceleration and gyroscope data, and the feature sets combined by the statistical feature set with another type of feature, can significantly improve the classification accuracy rates. The results illustrate that acceleration data is more effective than gyroscope data for most of the movement analysis.

Magnetometer-augmented IMU simulator: in-depth elaboration.

PubMed

Brunner, Thomas; Lauffenburger, Jean-Philippe; Changey, Sébastien; Basset, Michel

2015-03-04

The location of objects is a growing research topic due, for instance, to the expansion of civil drones or intelligent vehicles. This expansion was made possible through the development of microelectromechanical systems (MEMS), inexpensive and miniaturized inertial sensors. In this context, this article describes the development of a new simulator which generates sensor measurements, giving a specific input trajectory. This will allow the comparison of pose estimation algorithms. To develop this simulator, the measurement equations of every type of sensor have to be analytically determined. To achieve this objective, classical kinematic equations are used for the more common sensors, i.e., accelerometers and rate gyroscopes. As nowadays, the MEMS inertial measurement units (IMUs) are generally magnetometer-augmented, an absolute world magnetic model is implemented. After the determination of the perfect measurement (through the error-free sensor models), realistic error models are developed to simulate real IMU behavior. Finally, the developed simulator is subjected to different validation tests.

Magnetometer-Augmented IMU Simulator: In-Depth Elaboration

PubMed Central

Brunner, Thomas; Lauffenburger, Jean-Philippe; Changey, Sébastien; Basset, Michel

2015-01-01

The location of objects is a growing research topic due, for instance, to the expansion of civil drones or intelligent vehicles. This expansion was made possible through the development of microelectromechanical systems (MEMS), inexpensive and miniaturized inertial sensors. In this context, this article describes the development of a new simulator which generates sensor measurements, giving a specific input trajectory. This will allow the comparison of pose estimation algorithms. To develop this simulator, the measurement equations of every type of sensor have to be analytically determined. To achieve this objective, classical kinematic equations are used for the more common sensors, i.e., accelerometers and rate gyroscopes. As nowadays, the MEMS inertial measurement units (IMUs) are generally magnetometer-augmented, an absolute world magnetic model is implemented. After the determination of the perfect measurement (through the error-free sensor models), realistic error models are developed to simulate real IMU behavior. Finally, the developed simulator is subjected to different validation tests. PMID:25746095

LIDAR-Aided Inertial Navigation with Extended Kalman Filtering for Pinpoint Landing

NASA Technical Reports Server (NTRS)

Busnardo, David M.; Aitken, Matthew L.; Tolson, Robert H.; Pierrottet, Diego; Amzajerdian, Farzin

2011-01-01

In support of NASA s Autonomous Landing and Hazard Avoidance Technology (ALHAT) project, an extended Kalman filter routine has been developed for estimating the position, velocity, and attitude of a spacecraft during the landing phase of a planetary mission. The proposed filter combines measurements of acceleration and angular velocity from an inertial measurement unit (IMU) with range and Doppler velocity observations from an onboard light detection and ranging (LIDAR) system. These high-precision LIDAR measurements of distance to the ground and approach velocity will enable both robotic and manned vehicles to land safely and precisely at scientifically interesting sites. The filter has been extensively tested using a lunar landing simulation and shown to improve navigation over flat surfaces or rough terrain. Experimental results from a helicopter flight test performed at NASA Dryden in August 2008 demonstrate that LIDAR can be employed to significantly improve navigation based exclusively on IMU integration.

Survey of Motion Tracking Methods Based on Inertial Sensors: A Focus on Upper Limb Human Motion

PubMed Central

Filippeschi, Alessandro; Schmitz, Norbert; Miezal, Markus; Bleser, Gabriele; Ruffaldi, Emanuele; Stricker, Didier

2017-01-01

Motion tracking based on commercial inertial measurements units (IMUs) has been widely studied in the latter years as it is a cost-effective enabling technology for those applications in which motion tracking based on optical technologies is unsuitable. This measurement method has a high impact in human performance assessment and human-robot interaction. IMU motion tracking systems are indeed self-contained and wearable, allowing for long-lasting tracking of the user motion in situated environments. After a survey on IMU-based human tracking, five techniques for motion reconstruction were selected and compared to reconstruct a human arm motion. IMU based estimation was matched against motion tracking based on the Vicon marker-based motion tracking system considered as ground truth. Results show that all but one of the selected models perform similarly (about 35 mm average position estimation error). PMID:28587178

Use of an inertial navigation system for accurate track recovery and coastal oceanographic measurements

NASA Technical Reports Server (NTRS)

Oliver, B. M.; Gower, J. F. R.

1977-01-01

A data acquisition system using a Litton LTN-51 inertial navigation unit (INU) was tested and used for aircraft track recovery and for location and tracking from the air of targets at sea. The characteristic position drift of the INU is compensated for by sighting landmarks of accurately known position at discrete time intervals using a visual sighting system in the transparent nose of the Beechcraft 18 aircraft used. For an aircraft altitude of about 300 m, theoretical and experimental tests indicate that calculated aircraft and/or target positions obtained from the interpolated INU drift curve will be accurate to within 10 m for landmarks spaced approximately every 15 minutes in time. For applications in coastal oceanography, such as surface current mapping by tracking artificial targets, the system allows a broad area to be covered without use of high altitude photography and its attendant needs for large targets and clear weather.

IEC fusion: The future power and propulsion system for space

NASA Astrophysics Data System (ADS)

Hammond, Walter E.; Coventry, Matt; Hanson, John; Hrbud, Ivana; Miley, George H.; Nadler, Jon

2000-01-01

Rapid access to any point in the solar system requires advanced propulsion concepts that will provide extremely high specific impulse, low specific power, and a high thrust-to-power ratio. Inertial Electrostatic Confinement (IEC) fusion is one of many exciting concepts emerging through propulsion and power research in laboratories across the nation which will determine the future direction of space exploration. This is part of a series of papers that discuss different applications of the Inertial Electrostatic Confinement (IEC) fusion concept for both in-space and terrestrial use. IEC will enable tremendous advances in faster travel times within the solar system. The technology is currently under investigation for proof of concept and transitioning into the first prototype units for commercial applications. In addition to use in propulsion for space applications, terrestrial applications include desalinization plants, high energy neutron sources for radioisotope generation, high flux sources for medical applications, proton sources for specialized medical applications, and tritium production. .

MER-DIMES : a planetary landing application of computer vision

NASA Technical Reports Server (NTRS)

Cheng, Yang; Johnson, Andrew; Matthies, Larry

2005-01-01

During the Mars Exploration Rovers (MER) landings, the Descent Image Motion Estimation System (DIMES) was used for horizontal velocity estimation. The DIMES algorithm combines measurements from a descent camera, a radar altimeter and an inertial measurement unit. To deal with large changes in scale and orientation between descent images, the algorithm uses altitude and attitude measurements to rectify image data to level ground plane. Feature selection and tracking is employed in the rectified data to compute the horizontal motion between images. Differences of motion estimates are then compared to inertial measurements to verify correct feature tracking. DIMES combines sensor data from multiple sources in a novel way to create a low-cost, robust and computationally efficient velocity estimation solution, and DIMES is the first use of computer vision to control a spacecraft during planetary landing. In this paper, the detailed implementation of the DIMES algorithm and the results from the two landings on Mars are presented.

On the relativistic micro-canonical ensemble and relativistic kinetic theory for N relativistic particles in inertial and non-inertial rest frames

NASA Astrophysics Data System (ADS)

Alba, David; Crater, Horace W.; Lusanna, Luca

2015-03-01

A new formulation of relativistic classical mechanics allows a reconsideration of old unsolved problems in relativistic kinetic theory and in relativistic statistical mechanics. In particular a definition of the relativistic micro-canonical partition function is given strictly in terms of the Poincaré generators of an interacting N-particle system both in the inertial and non-inertial rest frames. The non-relativistic limit allows a definition of both the inertial and non-inertial micro-canonical ensemble in terms of the Galilei generators.

Distributed Autonomous Control Action Based on Sensor and Mission Fusion

DTIC Science & Technology

2005-09-01

programmable control algorithm driven by the readings of two pressure switch sensors located on either side of the valve unit. Thus, a micro-controller...and Characterization The process of leak detection and characterization must be accomplished with a set of pressure switch sensors. This sensor...economically supplementing existing widely used pressure switch type sensors which are characterized by prohibitively long inertial lag responses

Unstructured Facility Navigation by Applying the NIST 4D/RCS Architecture

DTIC Science & Technology

2006-07-01

control, and the planner); wire- less data and emergency stop radios; GPS receiver; inertial navigation unit; dual stereo cameras; infrared sensors...current Actuators Wheel motors, camera controls Scale & filter signals status commands commands commands GPS Antenna Dual stereo cameras...used in the sensory processing module include the two pairs of stereo color cameras, the physical bumper and infrared bumper sensors, the motor

Guidance, navigation, and control systems performance analysis: Apollo 13 mission report

NASA Technical Reports Server (NTRS)

1970-01-01

The conclusions of the analyses of the inflight performance of the Apollo 13 spacecraft guidance, navigation, and control equipment are presented. The subjects discussed are: (1) the command module systems, (2) the lunar module inertial measurement unit, (3) the lunar module digital autopilot, (4) the lunar module abort guidance system, (5) lunar module optical alignment checks, and (6) spacecraft component separation procedures.

Validation of distal limb mounted inertial measurement unit sensors for stride detection in Warmblood horses at walk and trot.

PubMed

Bragança, F M; Bosch, S; Voskamp, J P; Marin-Perianu, M; Van der Zwaag, B J; Vernooij, J C M; van Weeren, P R; Back, W

2017-07-01

Inertial measurement unit (IMU) sensor-based techniques are becoming more popular in horses as a tool for objective locomotor assessment. To describe, evaluate and validate a method of stride detection and quantification at walk and trot using distal limb mounted IMU sensors. Prospective validation study comparing IMU sensors and motion capture with force plate data. A total of seven Warmblood horses equipped with metacarpal/metatarsal IMU sensors and reflective markers for motion capture were hand walked and trotted over a force plate. Using four custom built algorithms hoof-on/hoof-off timing over the force plate were calculated for each trial from the IMU data. Accuracy of the computed parameters was calculated as the mean difference in milliseconds between the IMU or motion capture generated data and the data from the force plate, precision as the s.d. of these differences and percentage of error with accuracy of the calculated parameter as a percentage of the force plate stance duration. Accuracy, precision and percentage of error of the best performing IMU algorithm for stance duration at walk were 28.5, 31.6 ms and 3.7% for the forelimbs and -5.5, 20.1 ms and -0.8% for the hindlimbs, respectively. At trot the best performing algorithm achieved accuracy, precision and percentage of error of -27.6/8.8 ms/-8.4% for the forelimbs and 6.3/33.5 ms/9.1% for the hindlimbs. The described algorithms have not been assessed on different surfaces. Inertial measurement unit technology can be used to determine temporal kinematic stride variables at walk and trot justifying its use in gait and performance analysis. However, precision of the method may not be sufficient to detect all possible lameness-related changes. These data seem promising enough to warrant further research to evaluate whether this approach will be useful for appraising the majority of clinically relevant gait changes encountered in practice. © 2016 The Authors. Equine Veterinary Journal published by John Wiley & Sons Ltd on behalf of EVJ Ltd.

Acceleration and Orientation Jumping Performance Differences Among Elite Professional Male Handball Players With or Without Previous ACL Reconstruction: An Inertial Sensor Unit-Based Study.

PubMed

Setuain, Igor; González-Izal, Miriam; Alfaro, Jesús; Gorostiaga, Esteban; Izquierdo, Mikel

2015-12-01

Handball is one of the most challenging sports for the knee joint. Persistent biomechanical and jumping capacity alterations can be observed in athletes with an anterior cruciate ligament (ACL) injury. Commonly identified jumping biomechanical alterations have been described by the use of laboratory technologies. However, portable and easy-to-handle technologies that enable an evaluation of jumping biomechanics at the training field are lacking. To analyze unilateral/bilateral acceleration and orientation jumping performance differences among elite male handball athletes with or without previous ACL reconstruction via a single inertial sensor unit device. Case control descriptive study. At the athletes' usual training court. Twenty-two elite male (6 ACL-reconstructed and 16 uninjured control players) handball players were evaluated. The participants performed a vertical jump test battery that included a 50-cm vertical bilateral drop jump, a 20-cm vertical unilateral drop jump, and vertical unilateral countermovement jump maneuvers. Peak 3-dimensional (X, Y, Z) acceleration (m·s(-2)), jump phase duration and 3-dimensional orientation values (°) were obtained from the inertial sensor unit device. Two-tailed t-tests and a one-way analysis of variance were performed to compare means. The P value cut-off for significance was set at P < .05. The ACL-reconstructed male athletes did not show any significant (P < .05) residual jumping biomechanical deficits regarding the measured variables compared with players who had not suffered this knee injury. A dominance effect was observed among non-ACL reconstructed controls but not among their ACL-reconstructed counterparts (P < .05). Elite male handball athletes with previous ACL reconstruction demonstrated a jumping biomechanical profile similar to control players, including similar jumping performance values in both bilateral and unilateral jumping maneuvers, several years after ACL reconstruction. These findings are in agreement with previous research showing full functional restoration of abilities in top-level male athletes after ACL reconstruction, rehabilitation and subsequent return to sports at the previous level. Copyright © 2015 American Academy of Physical Medicine and Rehabilitation. Published by Elsevier Inc. All rights reserved.

OPERA, MINOS Experimental Result Prove Special and General Relativity Theories; the Principle of Lorentz Invariance Invalid

NASA Astrophysics Data System (ADS)

Pressler, David E.

2012-03-01

A great discrepancy exists - the speed of light and the neutrino speed must be identical; as indicated by supernova1987A; yet, OPERA predicts faster-than-light neutrinos. Einstein's theories are based on the invariance of the speed of light, and no privileged Galilean frame of reference exists. Both of these hypotheses are in error and must be reconciled in order to solve the dilemma. The Michelson-Morley Experiment was misinterpreted - my Neoclassical Theory postulates that BOTH mirrors of the interferometer physically and absolutely move towards its center. The result is a three-directional-Contraction, (x, y, z axis), an actual distortion of space itself; a C-Space condition. ``PRESSLER'S LAW OF C-SPACE: The speed of light, c, will always be measured the same speed in all three directions (˜300,000 km/sec), in ones own inertial reference system, and will always be measured as having a different speed in all other inertial frames which are at a different kinetic energy level or at a location with a different strength gravity field'' Thus, the faster you go, motion, or the stronger the gravity field the smaller you get in all three directions. OPERA results are explained; at the surface of Earth, the strength of gravity field is at maximum -- below the earth's surface, time and space is less distorted; therefore, time is absolutely faster accordingly. Reference OPERA's preprint: Neutrino's faster time-effect due to altitude difference; (10-13ns) x c (299792458m) = 2.9 x 10-5 m/ns x distance (730085m) + 21.8m.) This is consistent with the OPERA result.

Inertial effects in three-dimensional spinodal decomposition of a symmetric binary fluid mixture: a lattice Boltzmann study

NASA Astrophysics Data System (ADS)

Kendon, Vivien M.; Cates, Michael E.; Pagonabarraga, Ignacio; Desplat, J.-C.; Bladon, Peter

2001-08-01

The late-stage demixing following spinodal decomposition of a three-dimensional symmetric binary fluid mixture is studied numerically, using a thermodynamically consistent lattice Boltzmann method. We combine results from simulations with different numerical parameters to obtain an unprecedented range of length and time scales when expressed in reduced physical units. (These are the length and time units derived from fluid density, viscosity, and interfacial tension.) Using eight large (2563) runs, the resulting composite graph of reduced domain size l against reduced time t covers 1 [less, similar] l [less, similar] 105, 10 [less, similar] t [less, similar] 108. Our data are consistent with the dynamical scaling hypothesis that l(t) is a universal scaling curve. We give the first detailed statistical analysis of fluid motion, rather than just domain evolution, in simulations of this kind, and introduce scaling plots for several quantities derived from the fluid velocity and velocity gradient fields. Using the conventional definition of Reynolds number for this problem, Re[phi] = ldl/dt, we attain values approaching 350. At Re[phi] [greater, similar] 100 (which requires t [greater, similar] 106) we find clear evidence of Furukawa's inertial scaling (l [similar] t2/3), although the crossover from the viscous regime (l [similar] t) is both broad and late (102 [less, similar] t [less, similar] 106). Though it cannot be ruled out, we find no indication that Re[phi] is self-limiting (l [similar] t1/2) at late times, as recently proposed by Grant & Elder. Detailed study of the velocity fields confirms that, for our most inertial runs, the RMS ratio of nonlinear to viscous terms in the Navier Stokes equation, R2, is of order 10, with the fluid mixture showing incipient turbulent characteristics. However, we cannot go far enough into the inertial regime to obtain a clear length separation of domain size, Taylor microscale, and Kolmogorov scale, as would be needed to test a recent ‘extended’ scaling theory of Kendon (in which R2 is self-limiting but Re[phi] not). Obtaining our results has required careful steering of several numerical control parameters so as to maintain adequate algorithmic stability, efficiency and isotropy, while eliminating unwanted residual diffusion. (We argue that the latter affects some studies in the literature which report l [similar] t2/3 for t [less, similar] 104.) We analyse the various sources of error and find them just within acceptable levels (a few percent each) in most of our datasets. To bring these under significantly better control, or to go much further into the inertial regime, would require much larger computational resources and/or a breakthrough in algorithm design.

TURBULENCE-INDUCED RELATIVE VELOCITY OF DUST PARTICLES. IV. THE COLLISION KERNEL

DOE Office of Scientific and Technical Information (OSTI.GOV)

Pan, Liubin; Padoan, Paolo, E-mail: lpan@cfa.harvard.edu, E-mail: ppadoan@icc.ub.edu

Motivated by its importance for modeling dust particle growth in protoplanetary disks, we study turbulence-induced collision statistics of inertial particles as a function of the particle friction time, τ{sub p}. We show that turbulent clustering significantly enhances the collision rate for particles of similar sizes with τ{sub p} corresponding to the inertial range of the flow. If the friction time, τ{sub p,} {sub h}, of the larger particle is in the inertial range, the collision kernel per unit cross section increases with increasing friction time, τ{sub p,} {sub l}, of the smaller particle and reaches the maximum at τ{sub p,}more » {sub l} = τ{sub p,} {sub h}, where the clustering effect peaks. This feature is not captured by the commonly used kernel formula, which neglects the effect of clustering. We argue that turbulent clustering helps alleviate the bouncing barrier problem for planetesimal formation. We also investigate the collision velocity statistics using a collision-rate weighting factor to account for higher collision frequency for particle pairs with larger relative velocity. For τ{sub p,} {sub h} in the inertial range, the rms relative velocity with collision-rate weighting is found to be invariant with τ{sub p,} {sub l} and scales with τ{sub p,} {sub h} roughly as ∝ τ{sub p,h}{sup 1/2}. The weighting factor favors collisions with larger relative velocity, and including it leads to more destructive and less sticking collisions. We compare two collision kernel formulations based on spherical and cylindrical geometries. The two formulations give consistent results for the collision rate and the collision-rate weighted statistics, except that the spherical formulation predicts more head-on collisions than the cylindrical formulation.« less

The role of inertial fusion energy in the energy marketplace of the 21st century and beyond

NASA Astrophysics Data System (ADS)

John Perkins, L.

The viability of inertial fusion in the 21st century and beyond will be determined by its ultimate cost, complexity, and development path relative to other competing, long term, primary energy sources. We examine this potential marketplace in terms of projections for population growth, energy demands, competing fuel sources and environmental constraints (CO 2), and show that the two competitors for inertial fusion energy (IFE) in the medium and long term are methane gas hydrates and advanced, breeder fission; both have potential fuel reserves that will last for thousands of years. Relative to other classes of fusion concepts, we argue that the single largest advantage of the inertial route is the perception by future customers that the IFE fusion power core could achieve credible capacity factors, a result of its relative simplicity, the decoupling of the driver and reactor chamber, and the potential to employ thick liquid walls. In particular, we show that the size, cost and complexity of the IFE reactor chamber is little different to a fission reactor vessel of the same thermal power. Therefore, relative to fission, because of IFE's tangible advantages in safety, environment, waste disposal, fuel supply and proliferation, our research in advanced targets and innovative drivers can lead to a certain, reduced-size driver at which future utility executives will be indifferent to the choice of an advanced fission plant or an advanced IFE power plant; from this point on, we have a competitive commercial product. Finally, given that the major potential customer for energy in the next century is the present developing world, we put the case for future IFE "reservations" which could be viable propositions providing sufficient reliability and redundancy can be realized for each modular reactor unit.

A Sensor Fusion Method for Tracking Vertical Velocity and Height Based on Inertial and Barometric Altimeter Measurements

PubMed Central

Sabatini, Angelo Maria; Genovese, Vincenzo

2014-01-01

A sensor fusion method was developed for vertical channel stabilization by fusing inertial measurements from an Inertial Measurement Unit (IMU) and pressure altitude measurements from a barometric altimeter integrated in the same device (baro-IMU). An Extended Kalman Filter (EKF) estimated the quaternion from the sensor frame to the navigation frame; the sensed specific force was rotated into the navigation frame and compensated for gravity, yielding the vertical linear acceleration; finally, a complementary filter driven by the vertical linear acceleration and the measured pressure altitude produced estimates of height and vertical velocity. A method was also developed to condition the measured pressure altitude using a whitening filter, which helped to remove the short-term correlation due to environment-dependent pressure changes from raw pressure altitude. The sensor fusion method was implemented to work on-line using data from a wireless baro-IMU and tested for the capability of tracking low-frequency small-amplitude vertical human-like motions that can be critical for stand-alone inertial sensor measurements. Validation tests were performed in different experimental conditions, namely no motion, free-fall motion, forced circular motion and squatting. Accurate on-line tracking of height and vertical velocity was achieved, giving confidence to the use of the sensor fusion method for tracking typical vertical human motions: velocity Root Mean Square Error (RMSE) was in the range 0.04–0.24 m/s; height RMSE was in the range 5–68 cm, with statistically significant performance gains when the whitening filter was used by the sensor fusion method to track relatively high-frequency vertical motions. PMID:25061835

Pointing system for the balloon-borne astronomical payloads

NASA Astrophysics Data System (ADS)

Nirmal, Kaipacheri; Sreejith, Aickara Gopinathan; Mathew, Joice; Sarpotdar, Mayuresh; Ambily, Suresh; Prakash, Ajin; Safonova, Margarita; Murthy, Jayant

2016-10-01

We describe the development and implementation of a light-weight, fully autonomous 2-axis pointing and stabilization system designed for balloon-borne astronomical payloads. The system is developed using off-the-shelf components such as Arduino Uno controller, HMC 5883L magnetometer, MPU-9150 inertial measurement unit, and iWave GPS receiver unit. It is a compact and rugged system which can also be used to take images/video in a moving vehicle or in real photography. The system performance is evaluated from the ground, as well as in conditions simulated to imitate the actual flight by using a tethered launch.

Spacecraft Line-of-Sight Stabilization Using LWIR Earth Signature

NASA Technical Reports Server (NTRS)

Quadrelli, Marco B.; Piazzolla, Sabino

2012-01-01

The objective of this study is to investigate the potential of using the bright and near-uniform Earth infrared (or wavelength infrared, LWIR) signature as a stable reference for accurate (micro-rad or less) inertial pointing and tracking on-board an space vehicle, including the determination of the fundamental limits of applicability of the proposed method for space missions. We demonstrate sub-micro radian level pointing accuracy under a representative set of disturbances experienced by the spacecraft in orbit.

Relativistic solar sails

NASA Astrophysics Data System (ADS)

Güémez, J.; Fiolhais, M.

2018-05-01

We apply the four-vector formalism of special relativity to describe various interaction processes of photons with a solar sail, in two cases: when the sail’s surface is a perfect mirror, and when it is a body coated with a totally absorbing material. We stress the pedagogical value of implementing simultaneously both the linear momentum and the energy conservation in a covariant fashion, as our formalism inherently does. It also allows for a straightforward change of the description of a certain process in different inertial reference frames.

Efficient reorientation of a deformable body in space: A free-free beam example

NASA Technical Reports Server (NTRS)

Kolmanovsky, Ilya V.; Mcclamroch, N. Harris

1993-01-01

It is demonstrated that the planar reorientation of a free-free beam in zero gravity space can be accomplished by periodically changing the shape of the beam using internal actuators. A control scheme is proposed in which electromechanical actuators excite the flexible motion of the beam so that it rotates in the desired manner with respect to a fixed inertial reference. The results can be viewed as an extension of previous work to a distributed parameter case.

Attitude measurement: Principles and sensors

NASA Technical Reports Server (NTRS)

Duchon, P.; Vermande, M. P.

1981-01-01

Tools used in the measurement of satellite attitude are described. Attention is given to the elements that characterize an attitude sensor, the references employed (stars, moon, Sun, Earth, magnetic fields, etc.), and the detectors (optical, magnetic, and inertial). Several examples of attitude sensors are described, including sun sensors, star sensors, earth sensors, triaxial magnetometers, and gyrometers. Finally, sensor combinations that make it possible to determine a complete attitude are considered; the SPOT attitude measurement system and a combined CCD star sensor-gyrometer system are discussed.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hill, Christopher T.

We review and expand upon recent work demonstrating that Weyl invariant theories can be broken "inertially," which does not depend upon a potential. This can be understood in a general way by the "current algebra" of these theories, independently of specific Lagrangians. Maintaining the exact Weyl invariance in a renormalized quantum theory can be accomplished by renormalization conditions that refer back to the VEV's of fields in the action. We illustrate the computation of a Weyl invariant Coleman-Weinberg potential that breaks a U(1) symmetry together,with scale invariance.

Effects of adopting new precession, nutation and equinox corrections on the terrestrial reference frame

NASA Technical Reports Server (NTRS)

Zhu, S. Y.; Mueller, I. I.

1982-01-01

The effect of adopting definitive precession and equinox corrections on the terrestrial reference frame was investigated. It is noted that the effect on polar motion is a diurnal periodic term with an amplitude increasing linearly in time whole on UT1 it is a linear term: general principles are given to determine the effects of small rotations of the frame of a conventional inertial reference system (CIS) on the frame of the conventional terrestrial reference system (CTS); seven CTS options are presented, one of which is necessary to accommodate such rotation. Accommodating possible future changes in the astronomical nutation is discussed. The effects of differences which may exist between the various CTS's and CIS's on Earth rotation parameters (ERP) and how these differences can be determined are examined. It is shown that the CTS differences can be determined from observations made at the same site. The CIS differences by comparing the ERP's are determined by the different techniques during the same time period.

Effects of adopting new precession, nutation and equinox corrections on the terrestrial reference frame

NASA Technical Reports Server (NTRS)

Zhu, S. Y.; Mueller, I. I.

1982-01-01

The effects of adopting new definitive precession and equinox corrections on the terrestrial reference frame was investigated. It is noted that: (1) the effect on polar motion is a diurnal periodic term with an amplitude increasing linearly in time whole on UT1 it is a linear term; (2) general principles are given to determine the effects of small rotations of the frame of a conventional inertial reference system (CIS) on the frame of the conventional terrestrial reference system (CTS); (3) seven CTS options are presented, one of which is necessary to accommodate such rotation. Accommodating possible future changes in the astronomical nutation is discussed. The effects of differences which may exist between the various CTS's and CIS's on Earth rotation parameters (ERP) and how these differences can be determined are examined. It is shown that the CTS differences can be determined from observations made at the same site, while the CIS differences by comparing the ERP's determined by the different techniques during the same time period.

Laser modulator for LISA pathfinder

NASA Astrophysics Data System (ADS)

Voland, C.; Lund, G.; Coppoolse, W.; Crosby, P.; Stadler, M.; Kudielka, K.; Özkan, C.

2017-11-01

LISA Pathfinder is an ESA experiment to demonstrate the key technologies needed for the LISA mission to detect gravitational waves in space. The LISA Pathfinder spacecraft represents one arm of the LISA interferometer, containing an optical metrology system and two proof masses as inertial references for the drag-free control system. The LISA Pathfinder payload consists of two drag-free floating test masses located in the inertial sensors with their control electronics and an optical metrology subsystem. The optical metrology subsystem monitors the movement of both test masses relative to each other and to the spacecraft with very high sensitivity and resolution. This is achieved with a heterodyne Mach- Zehnder interferometer. This interferometer requires as input two coherent laser beams with a heterodyne frequency difference of a few kHz. To generate the two laser beams with a heterodyne frequency difference a Nd:YAG laser is used together with the Laser Modulator. The Nd:YAG laser generates a single coherent laser signal at a wavelength of 1064nm which is fibre coupled to the Laser Modulator. The Laser Modulator then generates the two optical beams with the required heterodyne frequency offset. In addition, the Laser Modulator is required to perform laser amplitude stabilization and optical path difference control for the two optical signals. The Laser Modulator consists of an optical unit - the LMU - and RF synthesiser, power amplification and control electronics. These electronics are all housed in the Laser Modulator Electronics (LME). The LMU has four primary functions: • Splitting of the input laser beam into two paths for later superposition in the interferometer. • Applying different frequency shifts to each of the beams. • Providing amplitude modulation control to each of the beams. • Providing active control of the optical path length difference between the two optical paths. The present paper describes the design and performance of the LMU together with a summary of the results of the Laser Modulator engineering model test campaign.

Precision Pointing Control System (PPCS) system design and analysis. [for gimbaled experiment platforms

NASA Technical Reports Server (NTRS)

Frew, A. M.; Eisenhut, D. F.; Farrenkopf, R. L.; Gates, R. F.; Iwens, R. P.; Kirby, D. K.; Mann, R. J.; Spencer, D. J.; Tsou, H. S.; Zaremba, J. G.

1972-01-01

The precision pointing control system (PPCS) is an integrated system for precision attitude determination and orientation of gimbaled experiment platforms. The PPCS concept configures the system to perform orientation of up to six independent gimbaled experiment platforms to design goal accuracy of 0.001 degrees, and to operate in conjunction with a three-axis stabilized earth-oriented spacecraft in orbits ranging from low altitude (200-2500 n.m., sun synchronous) to 24 hour geosynchronous, with a design goal life of 3 to 5 years. The system comprises two complementary functions: (1) attitude determination where the attitude of a defined set of body-fixed reference axes is determined relative to a known set of reference axes fixed in inertial space; and (2) pointing control where gimbal orientation is controlled, open-loop (without use of payload error/feedback) with respect to a defined set of body-fixed reference axes to produce pointing to a desired target.

Final report on the development of the geographic position locator (GPL). Volume 12. Data reduction A3FIX: subroutine

DOE Office of Scientific and Technical Information (OSTI.GOV)

Niven, W.A.

The long-term position accuracy of an inertial navigation system depends primarily on the ability of the gyroscopes to maintain a near-perfect reference orientation. Small imperfections in the gyroscopes cause them to drift slowly away from their initial orientation, thereby producing errors in the system's calculations of position. The A3FIX is a computer program subroutine developed to estimate inertial navigation system gyro drift rates with the navigator stopped or moving slowly. It processes data of the navigation system's position error to arrive at estimates of the north- south and vertical gyro drift rates. It also computes changes in the east--west gyromore » drift rate if the navigator is stopped and if data on the system's azimuth error changes are also available. The report describes the subroutine, its capabilities, and gives examples of gyro drift rate estimates that were computed during the testing of a high quality inertial system under the PASSPORT program at the Lawrence Livermore Laboratory. The appendices provide mathematical derivations of the estimation equations that are used in the subroutine, a discussion of the estimation errors, and a program listing and flow diagram. The appendices also contain a derivation of closed form solutions to the navigation equations to clarify the effects that motion and time-varying drift rates induce in the phase-plane relationships between the Schulerfiltered errors in latitude and azimuth snd between the Schulerfiltered errors in latitude and longitude. (auth)« less

Lane-Emden equation with inertial force and general polytropic dynamic model for molecular cloud cores

NASA Astrophysics Data System (ADS)

Li, DaLei; Lou, Yu-Qing; Esimbek, Jarken

2018-01-01

We study self-similar hydrodynamics of spherical symmetry using a general polytropic (GP) equation of state and derive the GP dynamic Lane-Emden equation (LEE) with a radial inertial force. In reference to Lou & Cao, we solve the GP dynamic LEE for both polytropic index γ = 1 + 1/n and the isothermal case n → +∞; our formalism is more general than the conventional polytropic model with n = 3 or γ = 4/3 of Goldreich & Weber. For proper boundary conditions, we obtain an exact constant solution for arbitrary n and analytic variable solutions for n = 0 and n = 1, respectively. Series expansion solutions are derived near the origin with the explicit recursion formulae for the series coefficients for both the GP and isothermal cases. By extensive numerical explorations, we find that there is no zero density at a finite radius for n ≥ 5. For 0 ≤ n < 5, we adjust the inertial force parameter c and find the range of c > 0 for monotonically decreasing density from the origin and vanishing at a finite radius for c being less than a critical value Ccr. As astrophysical applications, we invoke our solutions of the GP dynamic LEE with central finite boundary conditions to fit the molecular cloud core Barnard 68 in contrast to the static isothermal Bonnor-Ebert sphere by Alves et al. Our GP dynamic model fits appear to be sensibly consistent with several more observations and diagnostics for density, temperature and gas pressure profiles.

Constitutive model development for flows of granular materials

NASA Astrophysics Data System (ADS)

Chialvo, Sebastian

Granular flows are ubiquitous in both natural and industrial processes. When com- posed of dry, noncohesive particles, they manifest three different flow regimes---commonly referred to as the quasistatic, inertial, and intermediate regimes---each of which exhibits its own dependences on solids volume fraction, shear rate, and particle-level properties. The differences in these regimes can be attributed to microscale phenomena, with quasistatic flows being dominated by enduring, frictional contacts between grains, inertial flows by grain collisions, and intermediate flows by a combination of the two. Existing constitutive models for the solids-phase stress tend to focus on one or two regimes at a time, with a limited degree of success; the same is true of models for wall-boundary conditions for granular flows. Moreover, these models tend not to be based on detailed particle-level flow data, either from experiment or simulation. Clearly, a comprehensive modeling framework is lacking. The work in this thesis aims to address these issues by proposing continuum models constructed on the basis of discrete element method (DEM) simulations of granular shear flows. Specifically, we propose (a) a constitutive stress model that bridges the three dense flow regimes, (b) an modified kinetic-theory model that covers both the dense and dilute ends of the inertial regime, and (c) a boundary-condition model for dense, wall-bounded flows. These models facilitate the modeling of a wide range of flow systems of practical interest and provide ideas for further model development and refinement.

Spherical Pendulum Small Oscillations for Slewing Crane Motion

PubMed Central

Perig, Alexander V.; Stadnik, Alexander N.; Deriglazov, Alexander I.

2014-01-01

The present paper focuses on the Lagrange mechanics-based description of small oscillations of a spherical pendulum with a uniformly rotating suspension center. The analytical solution of the natural frequencies' problem has been derived for the case of uniform rotation of a crane boom. The payload paths have been found in the inertial reference frame fixed on earth and in the noninertial reference frame, which is connected with the rotating crane boom. The numerical amplitude-frequency characteristics of the relative payload motion have been found. The mechanical interpretation of the terms in Lagrange equations has been outlined. The analytical expression and numerical estimation for cable tension force have been proposed. The numerical computational results, which correlate very accurately with the experimental observations, have been shown. PMID:24526891

Determination of thermally induced effects and design guidelines of optomechanical accelerometers

NASA Astrophysics Data System (ADS)

Lu, Qianbo; Bai, Jian; Wang, Kaiwei; Jiao, Xufen; Han, Dandan; Chen, Peiwen; Liu, Dong; Yang, Yongying; Yang, Guoguang

2017-11-01

Thermal effects, including thermally induced deformation and warm up time, are ubiquitous problems for sensors, especially for inertial measurement units such as accelerometers. Optomechanical accelerometers, which contain light sources that can be regarded as heat sources, involve a different thermal phenomenon in terms of their specific optical readout, and the phenomenon has not been investigated systematically. This paper proposes a model to evaluate the temperature difference, rise time and thermally induced deformation of optomechanical accelerometers, and then constructs design guidelines which can diminish these thermal effects without compromising other mechanical performances, based on the analysis of the interplay of thermal and mechanical performances. In the model, the irradiation of the micromachined structure of a laser source is considered a dominant factor. The experimental data obtained using a prototype of an optomechanical accelerometer approximately confirm the validity of the model for the rise time and response tendency. Moreover, design guidelines that adopt suspensions with a flat cross-section and a short length are demonstrated with reference to the analysis. The guidelines can reduce the thermally induced deformation and rise time or achieve higher mechanical performances with similar thermal effects, which paves the way for the design of temperature-tolerant and robust, high-performance devices.

Utilization of a Terrestrial Laser Scanner for the Calibration of Mobile Mapping Systems

PubMed Central

Hong, Seunghwan; Park, Ilsuk; Lee, Jisang; Lim, Kwangyong; Choi, Yoonjo; Sohn, Hong-Gyoo

2017-01-01

This paper proposes a practical calibration solution for estimating the boresight and lever-arm parameters of the sensors mounted on a Mobile Mapping System (MMS). On our MMS devised for conducting the calibration experiment, three network video cameras, one mobile laser scanner, and one Global Navigation Satellite System (GNSS)/Inertial Navigation System (INS) were mounted. The geometric relationships between three sensors were solved by the proposed calibration, considering the GNSS/INS as one unit sensor. Our solution basically uses the point cloud generated by a 3-dimensional (3D) terrestrial laser scanner rather than using conventionally obtained 3D ground control features. With the terrestrial laser scanner, accurate and precise reference data could be produced and the plane features corresponding with the sparse mobile laser scanning data could be determined with high precision. Furthermore, corresponding point features could be extracted from the dense terrestrial laser scanning data and the images captured by the video cameras. The parameters of the boresight and the lever-arm were calculated based on the least squares approach and the precision of the boresight and lever-arm could be achieved by 0.1 degrees and 10 mm, respectively. PMID:28264457

Solar and Magnetic Attitude Determination for Small Spacecraft

NASA Technical Reports Server (NTRS)

Woodham, Kurt; Blackman, Kathie; Sanneman, Paul

1997-01-01

During the Phase B development of the NASA New Millennium Program (NMP) Earth Orbiter-1 (EO-1) spacecraft, detailed analyses were performed for on-board attitude determination using the Sun and the Earth's magnetic field. This work utilized the TRMM 'Contingency Mode' as a starting point but concentrated on implementation for a small spacecraft without a high performance mechanical gyro package. The analyses and simulations performed demonstrate a geographic dependence due to diurnal variations in the Earth magnetic field with respect to the Sun synchronous, nearly polar orbit. Sensitivity to uncompensated residual magnetic fields of the spacecraft and field modeling errors is shown to be the most significant obstacle for maximizing performance. Performance has been evaluated with a number of inertial reference units and various mounting orientations for the two-axis Fine Sun Sensors. Attitude determination accuracy using the six state Kalman Filter executing at 2 Hz is approximately 0.2 deg, 3-sigma, per axis. Although EO-1 was subsequently driven to a stellar-based attitude determination system as a result of tighter pointing requirements, solar/magnetic attitude determination is demonstrated to be applicable to a range of small spacecraft with medium precision pointing requirements.

IPS - a vision aided navigation system

NASA Astrophysics Data System (ADS)

Börner, Anko; Baumbach, Dirk; Buder, Maximilian; Choinowski, Andre; Ernst, Ines; Funk, Eugen; Grießbach, Denis; Schischmanow, Adrian; Wohlfeil, Jürgen; Zuev, Sergey

2017-04-01

Ego localization is an important prerequisite for several scientific, commercial, and statutory tasks. Only by knowing one's own position, can guidance be provided, inspections be executed, and autonomous vehicles be operated. Localization becomes challenging if satellite-based navigation systems are not available, or data quality is not sufficient. To overcome this problem, a team of the German Aerospace Center (DLR) developed a multi-sensor system based on the human head and its navigation sensors - the eyes and the vestibular system. This system is called integrated positioning system (IPS) and contains a stereo camera and an inertial measurement unit for determining an ego pose in six degrees of freedom in a local coordinate system. IPS is able to operate in real time and can be applied for indoor and outdoor scenarios without any external reference or prior knowledge. In this paper, the system and its key hardware and software components are introduced. The main issues during the development of such complex multi-sensor measurement systems are identified and discussed, and the performance of this technology is demonstrated. The developer team started from scratch and transfers this technology into a commercial product right now. The paper finishes with an outlook.

Determination Method of Bridge Rotation Angle Response Using MEMS IMU.

PubMed

Sekiya, Hidehiko; Kinomoto, Takeshi; Miki, Chitoshi

2016-11-09

To implement steel bridge maintenance, especially that related to fatigue damage, it is important to monitor bridge deformations under traffic conditions. Bridges deform and rotate differently under traffic load conditions because their structures differ in terms of length and flexibility. Such monitoring enables the identification of the cause of stress concentrations that cause fatigue damage and the proposal of appropriate countermeasures. However, although bridge deformation monitoring requires observations of bridge angle response as well as the bridge displacement response, measuring the rotation angle response of a bridge subject to traffic loads is difficult. Theoretically, the rotation angle response can be calculated by integrating the angular velocity, but for field measurements of actual in-service bridges, estimating the necessary boundary conditions would be difficult due to traffic-induced vibration. To solve the problem, this paper proposes a method for determining the rotation angle response of an in-service bridge from its angular velocity, as measured by a inertial measurement unit (IMU). To verify our proposed method, field measurements were conducted using nine micro-electrical mechanical systems (MEMS) IMUs and two contact displacement gauges. The results showed that our proposed method provided high accuracy when compared to the reference responses calculated by the contact displacement gauges.

Evaluation of low- and medium-cost IMUs for airborne gravimetry with UAVs

NASA Astrophysics Data System (ADS)

Deurloo, R. A.; Bastos, M. L.; Geng, Y.; Yan, W.

2011-12-01

The use of Unmanned Aerial Vehicles (UAVs) has increased in a large number of fields and is proving to be a good alternative to aerial surveys with traditional (manned) aircraft. In the scope of the PITVANT (Projecto de Investigação e Tecnologia em Veículos Aéreos Não-Tripulados) project, a research project funded by the Portuguese Ministry of Defence that aims at the development and demonstration of tools and technologies for UAVs, the Astronomical Observatory of the Faculty of Sciences of the University of Porto is investigating the use of UAVs for regional airborne gravimetry. The goal is to implement a so-called strapdown gravimetry system, based on the integrated use of GNSS and a low- to medium-cost IMU (Inertial Measurement Unit) that can be setup on board the UAVs developed within PITVANT. Two basic approaches exist in strapdown GNSS/IMU gravimetry: - to compute gravity disturbances directly from the combination of GNSS derived accelerations with accelerations measured by the IMU (the accelerometry approach); - to estimate the gravity disturbances as part of an inertial navigation solution using an (extended) Kalman filter (the inertial navigation approach). Because of the limitation of low- to medium-cost inertial systems the latter approach was used here. This method has proven to be effective in previous studies with this type of GNSS/IMU systems. To define the final system architecture, the performance of several different inertial systems was recently tested during an airborne survey with a regular aircraft, i.e. a CASA C212 from the Portuguese Air Force (PAF). Among the systems on board were a medium-cost Litton LN-200 and a low-cost Crossbow AHRS440, combined with a single GNSS receiver. Different Kalman filter configurations and GNSS processing options were investigated for each of the systems. The main goal was to assess the limits of the integrated GNSS/IMU systems to sense the gravity field (scalar gravimetry) and to evaluate their use and effectiveness in UAVs. The results of this analysis are presented here.

Geoscience laser altimeter system-stellar reference system

NASA Astrophysics Data System (ADS)

Millar, Pamela S.; Sirota, J. Marcos

1998-01-01

GLAS is an EOS space-based laser altimeter being developed to profile the height of the Earth's ice sheets with ~15 cm single shot accuracy from space under NASA's Mission to Planet Earth (MTPE). The primary science goal of GLAS is to determine if the ice sheets are increasing or diminishing for climate change modeling. This is achieved by measuring the ice sheet heights over Greenland and Antarctica to 1.5 cm/yr over 100 km×100 km areas by crossover analysis (Zwally 1994). This measurement performance requires the instrument to determine the pointing of the laser beam to ~5 urad (1 arcsecond), 1-sigma, with respect to the inertial reference frame. The GLAS design incorporates a stellar reference system (SRS) to relate the laser beam pointing angle to the star field with this accuracy. This is the first time a spaceborne laser altimeter is measuring pointing to such high accuracy. The design for the stellar reference system combines an attitude determination system (ADS) with a laser reference system (LRS) to meet this requirement. The SRS approach and expected performance are described in this paper.

40 CFR 1065.395 - Inertial PM balance verifications.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 40 Protection of Environment 32 2010-07-01 2010-07-01 false Inertial PM balance verifications... Inertial PM balance verifications. This section describes how to verify the performance of an inertial PM balance. (a) Independent verification. Have the balance manufacturer (or a representative approved by the...

40 CFR 1065.395 - Inertial PM balance verifications.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 40 Protection of Environment 33 2011-07-01 2011-07-01 false Inertial PM balance verifications... Inertial PM balance verifications. This section describes how to verify the performance of an inertial PM balance. (a) Independent verification. Have the balance manufacturer (or a representative approved by the...

Experimental Studies of Ageing in Electrolytic Capacitors

DTIC Science & Technology

2010-10-01

mechanisms of electronic components critical avionics systems such as the GPS and INAV are of critical importance. Electrolytic capac- itors and...the Inertial Navigation ( INAV ) system, causing the aircraft to fly off course. In this paper, we present the details of our ageing methodology along...directed towards DC-DC convert- ers in Avionics systems. In these systems the power supply drives a Global Positioning System (GPS) and INAV unit, and