Inertial measuring systems (IMSs) enable determination of 3D position and trajectory on a base of the actual measured acceleration and angular velocity. Measurements with the inertial sensors are influenced by errors from used sensors. Because of the principle of calculation of a position based on the recursive algorithm there is an accumulation of systematic error, which causes a rapid decreasing of the position accuracy hand in hand with a measuring time. The paper deals with the suggestion of the model for data processing, which enables to eliminate systematic errors of sensors; thereby the position accuracy is increased. For this purpose, an optical rotational-speed sensor was introduced and the additional measurement was realized with it in combination with the two IMSs located on the common baseline. Measurements from optical RPM were used in a combination with the accelerometers for their higher long-term accuracy. This combination enables to eliminate errors from the accelerometers even after the first integration process. Using the pair of IMSs located on the common baseline the requirements (constraints) of the geometric relation of two coordinate systems of these IMSs were implemented into the model for data processing. These constraints were applied for correction of the position and orientation. As a part of the suggested model an algorithm for identification of the dynamic phases was realized. This algorithm identified an actual dynamic phase of the system on a basis of the actual measured acceleration and angular velocity. This information was used for an adjustment of the processing model.Index Terms-dynamic model, inertial measurement system, optical rotational-speed sensor (RPM).
The focused effort of European Union in a form of safety improvement as one of the essential quality attributes of a transport system was reflected in several legal norms governing the conditions for each element of this system. Road infrastructure is no exception, where rules and principles of safety shall be applied in the process of its preparation, implementation and within the operation as well. The Directive 2008/96/EC on road infrastructure safety management has defined the basic framework for performance of individual procedures, which was transposed into national legislation and gained detailed outlines through adoption of the Act on road infrastructure safety management and related decrees.
The paper deals with the geodetic monitoring of a parabolic shaped reinforced con-crete roof structure in the chemical company Duslo, Ltd. in Šaľa (Slovak Republic).The monitored structure is a part of the roof of a warehouse used for the storage offertilizer. The atmospheric conditions and the operation load caused deformationof the construction. For measurement was used the technology of terrestrial laserscanning. The displacements of the observed parts of the construction were cal-culated using planar surfaces by the procedure of Singular Value Decomposition ofmatrixes. The procedure of initial and 2 epochal measurements of deformations,the procedure of the data processing, and the results of the deformation monitoringare described.
Inertial navigation system (INS) is a self-contained navigation technique. Its main purpose is to determinate the position and the trajectory of the object´s movement in space. This technique is well represented not only as a supplementary method (GPS/INS integrated system) but as an autonomous system for navigation of vehicles and pedestrians, also. The aim of this paper is to design a test for low-cost inertial measurement units. The test results give us information about accuracy, which determine the possible use in indoor navigation or other applications. There are described some methods for processing the data obtained by inertial measurement units, which remove noise and improve accuracy of position and orientation.
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