在本文中，已经尝试设计手语识别系统。 设计了一种智能手套，可以通过将手语转换为语音或可理解的语言来使聋哑人与其他人之间的通信自动化。 感官手套可提供人手形状或动作的数据，并将其翻译为文本和语音。 它包括用于转换传感器数据的硬件和软件。 这是一种可穿戴设备，可以放在人的手上，并将手的手势逐字母转换为符号，然后将数据发送到Firebase中进行进一步处理。 该手套配备有挠曲传感器和惯性测量单元，可通过监视手指空间和三维空间中的手势来识别运动，该三维空间以手指弯曲和拳头倾斜的形式感测人的手势。 霍尔传感器已用于处理和收集数据，以进行培训和模型开发。 分析使用了三种不同的机器学习算法，即支持向量机，朴素贝叶斯，决策树。 已经观察到，支持向量机具有最高的精度，即90％。 分析之后，数据已发送到语音转换功能，然后产生了可听见的结果。

drive_ros_localize_inertial_navigation_system：仅基于IMU数据的惯性导航系统。 通过IMU数据集成创建里程表

这是韩国学生的一篇硕士论文 业内评价很高。论文研究了低成本IMU的检校、INS的初始对准方法、GPS/INS组合解算模型的公式推导等。对做惯导和组合导航的算法设计很有帮助

Principles of GNSS, Inertial, and Multi-Sensor Integrated Navigation Systems Principles of GNSS, Inertial, and Multi-Sensor Integrated Navigation Systems

In this tutorial, we provide principled methods to quantitatively evaluate the quality of an estimated trajectory from visual(-inertial) odometry (VO/VIO), which is the foundation of benchmarking the accuracy of different algorithms. First, we show how to determine the transformation type to use in trajectory alignment based on the specific sensing modality (i.e., monocular, stereo and visual-inertial). Second, we describe commonly used error metrics (i.e., the absolute trajectory error and the relative error) and their strengths and weaknesses. To make the methodology presented for VO/VIO applicable to other setups, we also generalize our formulation to any given sensing modality. To facilitate the reproducibility of related research, we publicly release our implementation of the methods described in this tutorial.

In this paper, we focus on the problem of motion tracking in unknown environments using visual and inertial sensors.We term this estimation task visual-inertial odometry (VIO), in analogy to the well-known visual-odometry problem. We present a detailed study of EKF-based VIO algorithms, by comparing both their theoretical properties and empirical performance. We show that an EKF formulation where the state vector comprises a sliding window of poses (the MSCKF algorithm) attains better accuracy, consistency, and computational efficiency than the SLAM formulation of the EKF, in which the state vector contains the current pose and the features seen by the camera. Moreover, we prove that both types of EKF approaches are inconsistent, due to the way in which Jacobians are computed. Specifically, we show that the observability properties of the EKF’s linearized system models do not match those of the underlying system, which causes the filters to underestimate the uncertainty in the state estimates. Based on our analysis, we propose a novel, real-time EKF-based VIO algorithm, which achieves consistent estimation by (i) ensuring the correct observability properties of its linearized system model, and (ii) performing online estimation of the camera-to-IMU calibration parameters. This algorithm, which we term MSCKF 2.0, is shown to achieve accuracy and consistency higher than even an iterative, sliding-window fixed-lag smoother, in both Monte-Carlo simulations and real-world testing. I

Global Navigation Satellite Systems, Inertial Navigation, and Integration, 3 edition English | 2013 | ISBN: 111844700X | ISBN-13: 9781118447000 | 608 pages | PDF | 20,3 MB An updated guide to GNSS, and INS, and solutions to real-world GNSS/INS problems with Kalman filtering Written by recognized authorities in the field, this third edition of a landmark work provides engineers, computer scientists, and others with a working familiarity of the theory and contemporary applications of Global Navigation Satellite Systems (GNSS), Inertial Navigational Systems, and Kalman filters. This book is intended for people who need a working knowledge of global navigation satellite systems (GNSSs), inertial navigation systems (INSs), and the Kalman filtering models and methods used in their integration. The book is designed to provide a usable, working familiarity with both the theoretical and practical aspects of these subjects. For that purpose, we include “realworld”problems from practice as illustrative examples. We also cover the more practical aspects of implementation: how to represent problems in a mathematical model, analyze performance as a function of model parameters, implement the mechanization equations in numerically stable algorithms, assess the computational requirements, test the validity of results, and monitor performance in operation with sensor data from Global Positioning System (GPS) and INS. These important attributes, often overlooked in theoretical treatments, are essential for effective application of theory to real-world problems.

Global Navigation Satellite Systems, Inertial Navigation, and Integration

GNSS与惯性及多传感器组合导航系统原理(第二版)英文原版pdf

惯导的同志们必备款，器件测试，西工大严恭敏老师的书电子版，严老师很严谨很可爱