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Instantaneous velocity

Concept

An inertial measurement unit (IMU) is an electronic device that measures and reports a body's specific force, angular rate, and sometimes the orientation of the body, using a combination of accelerometers, gyroscopes, and sometimes magnetometers. When the magnetometer is included, IMUs are referred to as IMMUs. IMUs are typically used to maneuver modern vehicles including motorcycles, missiles, aircraft (an attitude and heading reference system), including unmanned aerial vehicles (UAVs), among many others, and spacecraft, including satellites and landers.

Concept

Inertial navigation system

An inertial navigation system (INS) is a navigation device that uses motion sensors (accelerometers), rotation sensors (gyroscopes) and a computer to continuously calculate by dead reckoning the position, the orientation, and the velocity (direction and speed of movement) of a moving object without the need for external references. Often the inertial sensors are supplemented by a barometric altimeter and sometimes by magnetic sensors (magnetometers) and/or speed measuring devices.

Concept

Velocity

Velocity is the speed and the direction of motion of an object. Velocity is a fundamental concept in kinematics, the branch of classical mechanics that describes the motion of bodies. Velocity is a physical vector quantity: both magnitude and direction are needed to define it. The scalar absolute value (magnitude) of velocity is called , being a coherent derived unit whose quantity is measured in the SI (metric system) as metres per second (m/s or m⋅s−1). For example, "5 metres per second" is a scalar, whereas "5 metres per second east" is a vector.

Concept

Inertial frame of reference

In classical physics and special relativity, an inertial frame of reference (also called inertial space, or Galilean reference frame) is a frame of reference not undergoing any acceleration. It is a frame in which an isolated physical object—an object with zero net force acting on it—is perceived to move with a constant velocity or, equivalently, it is a frame of reference in which Newton's first law of motion holds.

Concept

Frame of reference

In physics and astronomy, a frame of reference (or reference frame) is an abstract coordinate system whose origin, orientation, and scale are specified by a set of reference points―geometric points whose position is identified both mathematically (with numerical coordinate values) and physically (signaled by conventional markers). For n dimensions, n + 1 reference points are sufficient to fully define a reference frame.

Concept

Root mean square

In mathematics and its applications, the root mean square of a set of numbers (abbreviated as RMS, or rms and denoted in formulas as either or ) is defined as the square root of the mean square (the arithmetic mean of the squares) of the set. The RMS is also known as the quadratic mean (denoted ) and is a particular case of the generalized mean. The RMS of a continuously varying function (denoted ) can be defined in terms of an integral of the squares of the instantaneous values during a cycle.

Publication

Automatic Body Segment and Side Recognition of an Inertial Measurement Unit Sensor during Gait

Kamiar Aminian, Xavier Crevoisier, Robin Martin

Inertial measurement unit (IMU) sensors are widely used for motion analysis in sports and rehabilitation. The attachment of IMU sensors to predefined body segments and sides (left/right) is complex, time-consuming, and error-prone. Methods for solving the ...

MDPI2023

Publication

Impact of the turbulence wavenumber spectrum and probing beam geometry on Doppler reflectometry perpendicular velocity measurements

Frank Nüesch, Anita Frank

The perpendicular propagation velocity of turbulent density fluctuations is an important parameter in fusion plasmas, since sheared plasma flows are crucial for reducing turbulence, and thus an essential input parameter for turbulent transport simulations. ...

IOP Publishing Ltd2023

The hunt for the Karman 'constant' revisited

Peter Monkewitz

The log law of the wall, joining the inner, near-wall mean velocity profile (MVP) in wall-bounded turbulent flows to the outer region, has been a permanent fixture of turbulence research for over hundred years, but there is still no general agreement on th ...

Cambridge University Press2023

Publication

SmartSwim: A novel approach to swimming analysis and coaching assistance based on wearable inertial sensors

Mahdi Hamidi Rad

As one of the three most popular sports in the Summer Olympics, competitive swimming has always been an attractive subject of study for sports scientists. The intricate nature of the swimmer's movements and the variety of techniques have led coaches to req ...

EPFL2022

Publication

Front-Crawl Instantaneous Velocity Estimation Using a Wearable Inertial Measurement Unit

Kamiar Aminian, Grégoire Millet, Farzin Dadashi, Florent Crettenand

Monitoring the performance is a crucial task for elite sports during both training and competition. Velocity is the key parameter of performance in swimming, but swimming performance evaluation remains immature due to the complexities of measurements in wa ...

Mdpi Ag2012

Early decoding of walking tasks with minimal set of EMG channels

Silvestro Micera, Francesco Iberite, Federica Barberi, Eugenio Anselmino

Objective. Powered lower-limb prostheses relying on decoding motor intentions from non-invasive sensors, like electromyographic (EMG) signals, can significantly improve the quality of life of amputee subjects. However, the optimal combination of high decod ...

IOP Publishing Ltd2023

A Sensor Fusion Approach to the Estimation of Instantaneous Velocity Using Single Wearable Sensor During Sprint

Kamiar Aminian, Frédéric Meyer, Salil Apte, Farzin Dadashi, Vincent Gremeaux

Power-Force-Velocity profile obtained during a sprint test is crucial for designing personalized training and evaluating injury risks. Estimation of instantaneous velocity is requisite for developing these profiles and the predominant method for this estim ...

2020

Airborne sensor fusion: Expected accuracy and behavior of a concurrent adjustment

Jan Skaloud, Davide Antonio Cucci, Aurélien Arnaud Brun, Kyriaki Mouzakidou

Tightly-coupled sensor orientation, i.e. the simultaneous processing of temporal (GNSS and raw inertial) and spatial (image and lidar) constraints in a common adjustment, has demonstrated significant improvement in the quality of attitude determination wit ...

2024

An Inertial Uni-Axial Interferometer-Based Accelerometer for Harsh Environments

Mark Edward John Butcher, Gerard Aliana Cervera

For high-impact devices, subsequent vibrations have as much influence on the deterioration of the mechanical structure as the impact itself. To mitigate the consequences of both impacts and resulting vibrations, it is crucial to accurately understand the p ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Publication

VDMNav: Software Architecture for Aerodynamically Constrained Navigation on Small Fixed-Wing Drones

Jan Skaloud, Gabriel François Laupré

Navigation of drones is predominantly based on sensor fusion algorithms. Most of these algorithms make use of some form of Bayesian filtering with a majority employing an Extended Kalman Filter (EKF), wherein inertial measurements are fused with a Global N ...

2024

Publication

Monitoring weekly progress of front crawl swimmers using IMU-based performance evaluation goal metrics

Kamiar Aminian, Farzin Dadashi, Fabien Massé, Mahdi Hamidi Rad, Vincent Gremeaux

Technical evaluation of swimming performance is an essential factor in preparing elite swimmers for their competitions. Inertial measurement units (IMUs) have attracted much attention recently because they can provide coaches with a detailed analysis of sw ...

FRONTIERS MEDIA SA2022

Publication

SmartSwim, a Novel IMU-Based Coaching Assistance

Kamiar Aminian, Farzin Dadashi, Fabien Massé, Mahdi Hamidi Rad, Vincent Gremeaux

Swimming coaches provide regular timed and technical feedback to swimmers and guide them efficiently in training sessions. Due to the complexity of swimmers' performance, which is not visible in qualitative observation, quantitative and objective performan ...

MDPI2022

Publication

VDM-based navigation for Delta-wing UAVs: Models, calibration, implementation

Pasquale Longobardi

Autonomous navigation of small UAVs is typically based on the integration of inertial navigation systems (INS) together with global navigation satellite systems (GNSS). However, GNSS signals can face various forms of interference affecting their continuous ...

EPFL2024

Publication

An Ultralow-Power Triaxial MEMS Accelerometer With High-Voltage Biasing and Electrostatic Mismatch Compensation

Kyojin Choo, Li Xu, Yimai Peng

This article presents a triaxial micro electromechani-cal system (MEMS) capacitive accelerometer using a high-voltage biasing technique to achieve high resolution with ultralow power. The accelerometer system generates a differential pair of high voltages ...

Ieee-Inst Electrical Electronics Engineers Inc2024