An approach for velocity and position estimation through acceleration measurements |
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| Affiliation: | 1. Islamic Azad University, Mashhad Branch, Mashhad, Iran;2. Auckland University of Technology, Auckland, New Zealand;1. Shanghai Maritime University, China;2. Carnegie Mellon University, United States;3. Google, United States;4. Shanghai Jiao Tong University, United States;1. Beijing Institute of Spacecraft Environment Engineering, Beijing 100094, China;2. State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin 300072, China;1. PSCOPE Signal Processing and Computational Intelligence for Power Systems, Electrical Engineering Program, Federal University of Juiz de Fora, Juiz de Fora, MG 36.036-900, Brazil;2. KRON Medidores Eletrônicos, São Paulo, SP 04.760-020, Brazil;1. Clinical Orthopaedic Surgery, Weill Cornell Medical College, 535 E 70th St, New York, NY 10021;2. Adult Reconstruction and Joint Replacement Division, Hospital for Special Surgery, New York, NY;1. Politecnico di Milano, Piazza Leonardo da Vinci 32, Milan 20133, Italy;2. Università di Brescia, Via Branze 38, Brescia 25123, Italy;3. STMicroelectronics, Via Olivetti 2, Agrate Brianza 20864, Italy;4. Vrije Universiteit Amsterdam, De Boelelaan 1105, Amsterdam 1081, The Netherlands |
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| Abstract: | This paper proposes an approach for velocity and position estimation through acceleration measurements. In this approach, the noises of acceleration signal are removed through a smoothing process based on diffusion equation, a special partial differential equation (PDE). Then a mechanism is designed to remove abnormal deviations in the signal before and after integration. The proposed approach can substantially reduce the errors (drifts) accumulated from the integration of acceleration signal. Its effectiveness and superiority over other popular methods are validated by simulation and experimental results. |
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| Keywords: | Drift Double integration Inertial navigation systems |
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