Pedestrian Inertial Navigation with Self-Contained Aiding. Andrei M. Shkel
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Table of Contents
1 Cover
7 1 Introduction 1.1 Navigation 1.2 Inertial Navigation 1.3 Pedestrian Inertial Navigation 1.4 Aiding Techniques for Inertial Navigation 1.5 Outline of the Book References
8 2 Inertial Sensors and Inertial Measurement Units 2.1 Accelerometers 2.2 Gyroscopes 2.3 Inertial Measurement Units 2.4 Conclusions References
9 3 Strapdown Inertial Navigation Mechanism 3.1 Reference Frame 3.2 Navigation Mechanism in the Inertial Frame 3.3 Navigation Mechanism in the Navigation Frame 3.4 Initialization 3.5 Conclusions References
10 4 Navigation Error Analysis in Strapdown Inertial Navigation 4.1 Error Source Analysis 4.2 IMU Error Reduction 4.3 Error Accumulation Analysis 4.4 Conclusions References
11 5 Zero‐Velocity Update Aided Pedestrian Inertial Navigation 5.1 Zero‐Velocity Update Overview 5.2 Zero‐Velocity Update Algorithm 5.3 Parameter Selection 5.4 Conclusions References
12 6 Navigation Error Analysis in the ZUPT‐Aided Pedestrian Inertial Navigation 6.1 Human Gait Biomechanical Model 6.2 Navigation Error Analysis 6.3 Verification of Analysis 6.4 Limitations of the ZUPT Aiding Technique 6.5 Conclusions References
13 7 Navigation Error Reduction in the ZUPT‐Aided Pedestrian Inertial Navigation 7.1 IMU‐Mounting Position Selection 7.2 Residual Velocity Calibration 7.3 Gyroscope G‐Sensitivity Calibration 7.4 Navigation Error Compensation Results 7.5 Conclusions References
14 8 Adaptive ZUPT‐Aided Pedestrian Inertial Navigation 8.1 Floor Type Detection 8.2 Adaptive Stance Phase Detection 8.3 Conclusions References
15 9 Sensor Fusion Approaches 9.1 Magnetometry 9.2 Altimetry 9.3 Computer Vision 9.4 Multiple‐IMU Approach 9.5 Ranging Techniques 9.6 Conclusions References
16 10 Perspective on Pedestrian Inertial Navigation Systems 10.1 Hardware Development 10.2 Software Development 10.3 Conclusions References
17 Index
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