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Applications for Inertial Sensors 11 Sep 2013 Dr.Tech. Jussi Collin Pervasive Computing jussi.collin _at_ tut.fi
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Outline
• Research Group • Research Projects
– Indoor Navigation – Context Recognition using Smartphone
• Lab Equipment • Recent Publications
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Our Group
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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
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
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Indoor Navigation: MEMS
• Maps are needed to correct drift
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Using Building Plans and Self-Contained Sensors with GNSS Initialization for Indoor Navigation, VTC-1, 2013
3D Indoor Navigation
• 3D Map, 3D collision detection • Vehicle: speed + Smartphone: angular rates • Combine the information using BT+OBD
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Indoor 3D Navigation and Positioning of Vehicles in Multi-Storey Parking Garages, ICASSP 2013
Context: Motion Mode Detection with Accelerometers
Context Awareness for GPS-Enabled Phones, Proceedings of ION ITM2010
Sensor Placement Options • Steering Wheel & Pedals • Shoe • Wheel
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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
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..
13.9.2013 11
http://www.xsens.com/
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
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