Category Archives: Android

Zero motion detector for inertial sensors

Zero motion detection for low cost MEMS units is an extremely important topic that has not received enough attention in the navigation community. For most low-cost inertial navigation applications, the only aiding source that can be used to limit the … Continue reading

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A note on the strapdown algorithms

Probably you have noticed that the strapdown implementations in the toolkit directly use the sensor outputs to compute the body updates. For instance, accelerometer outputs (a) are multiplied by the DCM (C) and then added to the velocity state. Those … Continue reading

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Implementing a GPS/INS without a math-coprocessor

Recently, I have implemented (embedded) a GPS-INS system in the native environment of my Android phone (a 2.5 years old HTC Hero). The embedded navigation code is capable of processing external inertial sensor and GPS outputs sent to the device … Continue reading

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