Файзуллин Марсель Фарисович Применение нескольких МЭМС инерциальных измерительных блоков низкого качества в алгоритмах навигации и синхронизации времени / Navigation and Time Synchronization Algorithms Using Multiple Low Grade MEMS IMUs

Короткий опис

Файзуллин Марсель Фарисович Применение нескольких МЭМС инерциальных измерительных блоков низкого качества в алгоритмах навигации и синхронизации времени / Navigation and Time Synchronization Algorithms Using Multiple Low Grade MEMS IMUs
ОГЛАВЛЕНИЕ ДИССЕРТАЦИИ
кандидат наук Файзуллин Марсель Фарисович
Contents

Page

Acknowledgments

Introduction

Chapter 1. Best Axes Composition: Multiple IMUs Sensor Fusion

to Reduce Systematic Error

1.1 Introduction

1.2 Related Work

1.3 Background

1.3.1 State Variables and Frames of Reference

1.3.2 IMU Model

1.3.3 Kinematic Model

1.3.4 A competitor: Averaged Virtual Estimator

1.4 Best Axes Composition for Multiple IMU Sensor Fusion in Open Loop

1.4.1 Stage I. Stationary IMU Parameters Estimation

1.4.2 Stage II. Time-dependent IMU Parameters Estimation

1.4.3 Stage III. Best Axes Composition

1.5 Implementation

1.6 Experiments

1.7 Conclusions

Chapter 2. Twist-n-Sync: Software Time Synchronization with Microseconds Accuracy and Precision Using

MEMS-Gyroscopes

2.1 Introduction

2.2 Related Work

2.3 Background

2.3.1 Time synchronization problem statement

2.3.2 Rigid Body Rotations and Angular Velocities

2.3.3 MEMS Gyroscope Model

2.4 Twist-n-Sync Time Synchronization Algorithm

Page

2.4.1 Coarse Time Offset Calculation

2.4.2 Online Calibration

2.4.3 Time Offset Refinement

2.4.4 Algorithm Implementation

2.5 Empirical validation

2.5.1 Calibration Influence

2.5.2 Downsampling and Offset Influence

2.5.3 Cut-Off Frequency Influence

2.5.4 Trial Duration Influence

2.5.5 Summary

2.6 Conclusion

Chapter 3. Practical Applications of Twist-n-Sync for

Synchronization of Homogeneous and Heterogeneous

Sensor Systems

3.1 Introduction

3.2 Related work

3.3 Twist-n-Sync for Synchronized Capturing of Color Images by Two Smartphones

3.3.1 Mobile Application for Synchronized Image Capture by Twist-n-Sync

3.3.2 Evaluation Methodology and Tool

3.3.3 Results

3.4 Twist-n-Sync for Synchronized Capturing of Smartphone Camera

Color and Depth Camera Range Images

3.4.1 System Overview

3.4.2 Synchronization

3.4.3 Evaluation Methodology and Results

3.5 Conclusion

Conclusion

List of Figures

List of Tables

References

89