Applications for Inertial Sensors 11 Sep 2013 Dr.Tech. Jussi Collin Pervasive Computing jussi.collin _at_ tut.fi 1
Outline • Research Group • Research Projects – Indoor Navigation – Context Recognition using Smartphone • Lab Equipment • Recent Publications 2
Our Group Prof. Takala, Dr. Collin, Dr. Kirkko-Jaakkola, 5 PhD students Sensor-based navigation research started in 1999 Deep understanding of performance of micro-electro-mechanical- system (MEMS) sensor in various applications The group has invented novel ways to use the GPS and sensor data in context-aware applications 3
MEMS Motion Sensors Accelerometers specific force , ’all forces except gravitation’ Gyroscopes device body – inertial frame + Barometers, magnetometers
Indoor Navigation: GPS NLOS and low signal strength causes lots of problems in indoors and urban canyons 2003 2012
Indoor Navigation: MEMS • Take advantage of physiological model of walking: count steps with accelerometers 6
Indoor Navigation: MEMS • Maps are needed to correct drift Using Building Plans and Self-Contained Sensors with GNSS Initialization for Indoor Navigation, VTC-1, 2013 7
3D Indoor Navigation • 3D Map, 3D collision detection • Vehicle: speed + Smartphone: angular rates • Combine the information using BT+OBD Indoor 3D Navigation and Positioning of Vehicles in Multi-Storey Parking Garages, ICASSP 2013 8
Context: Motion Mode Detection w ith Accelerometers Context Awareness for GPS-Enabled Phones, Proceedings of ION ITM2010
Sensor Placement Options • Steering Wheel & Pedals • Shoe • Wheel Energy Consumption Analysis for Green Routing - Data Collection from Electric Vehicles, 39th Annual Conference of the IEEE Industrial Electronics Society An Innovative Shoe-mounted Pedestrian Navigation System, Proceedings of the European Navigation Conference GNSS 2003 10
Lab Equipment • Novatel DGPS, 1-10 cm reference position with 20 Hz • Miniature wireless synchronized XSENS IMUs • Customized programmable IMUs with BT and GNSS rx • Ovenized IMU, barometers, measurement cart, etc.. http://www.xsens.com/ 13.9.2013 11
Recent Publications Using Building Plans and Self-Contained Sensors with GNSS Initialization for Indoor Navigation , VTC-1, 2013 Indoor 3D Navigation and Positioning of Vehicles in Multi-Storey Parking Garages , ICASSP 2013 Improving TTFF by Two-Satellite GNSS Positioning , IEEE Transactions on Aerospace and Electronic Systems, Volume 48, Issue 4, pp. 3660-3670 Bias Prediction for MEMS Gyroscopes , IEEE Sensors Journal, Volume 12, Issue 6, pp. 2157-2163 Application of Particle Filters to a Map-Matching Algorithm , Gyroscopy and Navigation, Springer, Volume 2, Number 4, October 2011, pp. 285-292 Using a MEMS gyroscope to measure the Earth's rotation for gyrocompassing applications , Measurement Science and Technology, 23 025005 (8 pp), Institute of Physics Publishing + 6 patent applications 2011-2012 Video Channel: http://www.youtube.com/user/insnavgroup Publications: http://www.tkt.cs.tut.fi/research/nappo/publications.html 12
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