Lecture 9, March 24, 2020: Pose Estimation, Inertial Navigation Systems (INS), Inertial Measurement Unit (IMU)
Pose Estimation, Inertial Navigation Systems (INS), Inertial Measurement Unit (IMU)
• Introduction
• Mathematics of Inertial Navigation
• Errors and Aiding in Inertial Navigation
• Example: Simple Odometry Aided AHRS
• Use of cheap MEMS IMUs in robotics
• Summary
A DCM Based Attitude Estimation Algorithm for Low-Cost MEMS IMUs - paper as additional material, not required in exam
Zoom-video of the remote lecture