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Short-Term Tracking Of Orientation With Inertial Sensors, Golriz Sedaghat

Dissertations and Theses

In the past several years, IMU's have been widely used to measure the orientation of a moving body over a continuous period of time. Although, inertial navigation is a common approach for estimating the orientation, it greatly suffers from the accumulation of error in the orientation estimation. Most of the current common practices apply zero velocity update as a calibration method to address this problem and improve the estimation accuracy. However, this approach requires the sensors to be stationary frequently.

This thesis introduces a novel method of calibration for estimating the elevation and bank angles of the orientation over a …