Heuristic Reduction of Gyro Drift in IMU-based Personnel Tracking Systems

  title={Heuristic Reduction of Gyro Drift in IMU-based Personnel Tracking Systems},
  author={Johann Borenstein and Lauro Ojeda and Surat Kwanmuang},
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… CONTINUE READING
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