Heuristic reduction of gyro drift in IMU-based personnel tracking systems

Johann Borenstein; Lauro Ojeda; Surat Kwanmuang

doi:10.1117/12.816921

5 May 2009 Heuristic reduction of gyro drift in IMU-based personnel tracking systems

Johann Borenstein, Lauro Ojeda, Surat Kwanmuang

Proceedings Volume 7306, Optics and Photonics in Global Homeland Security V and Biometric Technology for Human Identification VI; 73061H (2009) https://doi.org/10.1117/12.816921
Event: SPIE Defense, Security, and Sensing, 2009, Orlando, Florida, United States

Abstract

The paper pertains to the reduction of measurement errors in gyroscopes used for tracking the position of walking persons. Some of these tracking systems commonly use inertial or other means to measure distance traveled, and one or more gyros to measure changes in heading. MEMS-type gyros or IMUs are best suited for this task because of their small size and low weight. However, these gyros have large drift rates and can be sensitive to accelerations. The Heuristic Drift Reduction (HDR) method presented in this paper estimates the drift component and eliminates it, reducing heading errors by almost one order of magnitude.

Citation Download Citation

Johann Borenstein, Lauro Ojeda, and Surat Kwanmuang "Heuristic reduction of gyro drift in IMU-based personnel tracking systems", Proc. SPIE 7306, Optics and Photonics in Global Homeland Security V and Biometric Technology for Human Identification VI, 73061H (5 May 2009); https://doi.org/10.1117/12.816921

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