Lecture 9, March 30, 2021: 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-recording  of the remote lecture