john-olof nilsson signalbehandling kth filefirst responder positioning in urban operations gps gps a...
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Fotmonterad tröghetsnavigering
Reglermöte 2012, 13:e juni John-Olof Nilsson
Signalbehandling KTH
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Personnavigering
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Personnavigering
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Personnavigering
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Rörelseanalys
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Rörelseanalys
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Rörelseanalys
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Rörelseanalys
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Tröghetsnavigering
• Newtons rörelselagar / klassisk mekanik
• Mät acceleration och rotation med accelemetrar och gyroskop
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Feltillväxt och divergens
• Fel accumuleras i integrationerna
• Lösningslaternativ
- Bra (dyra) sensorer - Ytterligare information
• Fler givare • Antagnade om rörelsen
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Nollhastighetsuppdateringar
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ZUPT-aided INS
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Implementering
• Känd teknik men går inte att köpa!
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OpenShoe
• Implementering av fotmonterad tröghetsnavigering - Öppen källkod och hårdvarudesign - Lätt tillgängliga komponenter - ~6000kr
Dokumentation och kod: www.openshoe.org
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Implementation
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Implementering
• Hårdvara
• Mjukvara
• Skor
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Hårdvara
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Open-source
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Slut