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Indoor tracking (IMU + tags)

Indoor tracking (IMU + tags)

[+2] [2] Johny 19 [2011-09-27 13:44:36] [ android tracking accelerom eter gy roscope inertia ] [ http://stackov erflow.com /questions/7 57 0202/indoor-tracking-im u-tags ]

this is an other question about indoor tracking using inertial (smartphone + aceel + gyro) Firstly I would like to say that I have read almost every post on stackoverflow talking about this subject. And I know that to track a position We will have to integrate TWICE the accel and that is very useless in a real life application because of all the drift errors... But it turned out that I don't need to build a plane or whatever And i don't need to developp an application that have to WORK to be sold or something . I just want to realize a simple Android App that use "theoretical" concept of an Indoor trackingWhat's the possibilities? What do we need ? Basically my phone is resting on a desk screen facing UP at a known position (0,0) if a push my phone to 2 or 3 meter and then i rotate it and i push it again for 2 or 3 meter I the to see after how many meter it becomes to inaccurate an so use a tag tu recalibrate the measurements <--- That's my main question what do I need ? - the angle ? (ok integrating the the gyro) (i don't wanna use the compass) - the accel? (i have) - the velocity ? (integrating the accel) - and the position (double accel integration) The thing that I would like to know is How can i put this number together? Is it the right way to do it? Is there an other solution (to resolve my problem not to track someone really accurately)? I also looked at the theorie of the DCM ( If I undertood correctly it will give me the orientation of the phone in 6 axes right? But what the difference about getting the angle from the accel or the gyro (pitch, roll etc..) ? Thank you
What exactly sensors do y ou hav e av ailable in y our phone? You said accelerom eters: are they 3 D accels? The sam e goes for gy roscopes. - mmm Oh y es sorry forgot to say : One accelerom eter (3 -axis), 1 gy roscope (3 axis). it's an Google phone Nexsus S Johny 19

[+2] [2011-09-27 14:17 :38] m m m With the sensors y ou hav e, not considering computational power at this point y et, I know of only one method of position / displacement estimation. This would either inv olv e just optical flow with the onboard camera, or the abov e with addidional info from fused data from accels / gy ros (eg. with a Kalman-Filter) to improv e accuracy . I guess OpenCV [1 ] has all y ou need (including support for Android), so I'd start there. Start by implementing an attitude-estimator with just accels and gy ros. This will drift in y aw-ax is (ie. the ax is perpendicular to the ground, or rather parallel to grav ity v ector). This can be done with a KalmanFilter or other algorithms. This won't be any good for position estimation, as the estimated position will drift tenths of meters away in just a couple of seconds. Then try implementing optical flow with y our camera, which is computationally ex pensiv e. Actually this alone could be a solution, but with less accuracy than with additional data from an IMU.

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1/29/13

Indoor tracking (IMU + tags)

Good luck. EDIT : I recently found this [2] - it may be helpful to y ou. If there is not a lot of noise (due to v ibration), this would work (I'm on a quadrotor UAV and it unfortunately doesn't work for me). [1 ] http://opencv .willowgarage.com/wiki/ [2] http://mbed.org/users/aberk/notebook/dead-reckoning/
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[0] [2011-11-18 23:35:04] FarK Y our smartphone probably hav e a 3-ax is gy ro, a 3-ax is magnetometer and a 3-ax is accelerometer. This is enough for a good estimation of attitude. Each has its adv antages and disadv antages: The accelerometers can measured the grav ity force, it giv e y ou the attitude of y our phone, but in a horizontal position, y ou won't can know where it's pointing. And it's v ery sensitiv e to inertial noise. The gy roscopes are fastest and the most accurate, but its problem it the drift. The magnetometers don't hav e drift and they aren't sensitiv e to inertial forces, but are too slow. The combination of the three giv e y ou all adv antages and no disadv antages. Y ou must read the gy ro measure faster as y ou can (this minimizes the drift) and then use the slow and not as accurate measure of magnetometer and accelerometer to correct them. I leav e y ou some links that may interest y ou: A Guide to using IMU: http://www.starlino.com/imu_guide.html DCM tutorial: http://www.starlino.com/dcm_tutorial.html I hope I'v e been helpful and sorry for my bad English.
-1 That's for attitude estim ation, but the OP asked about position estim ation. - Laurent Couvidou You need the attitude estim ation to get the position estim ation. Also he talks about DCM algorithm which is used for attitude estim ation. - FarK
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