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Multiple and Gyro-Free Inertial Datasets.

作者信息

Yampolsky Zeev, Stolero Yair, Pri-Hadash Nitsan, Solodar Dan, Massas Shira, Savin Itai, Klein Itzik

机构信息

The Hatter Department of Marine Technologies, Charney School of Marine Sciences, University of Haifa, Haifa, 3103301, Israel.

出版信息

Sci Data. 2024 Oct 3;11(1):1080. doi: 10.1038/s41597-024-03917-6.

DOI:10.1038/s41597-024-03917-6
PMID:39362900
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC11450167/
Abstract

An inertial navigation system (INS) utilizes three orthogonal accelerometers and gyroscopes to determine platform position, velocity, and orientation. There are countless applications for INS, including robotics, autonomous platforms, and the internet of things. Recent research explores the integration of data-driven methods with INS, highlighting significant innovations, improving accuracy and efficiency. Despite the growing interest in this field and the availability of INS datasets, no datasets are available for gyro-free INS (GFINS) and multiple inertial measurement unit (MIMU) architectures. To fill this gap and to stimulate further research in this field, we designed and recorded GFINS and MIMU datasets using 54 inertial sensors grouped in nine inertial measurement units. These sensors can be used to define and evaluate different types of MIMU and GFINS architectures. The inertial sensors were arranged in three different sensor configurations and mounted on a mobile robot, a passenger car and a turntable. In total, the dataset contains 45 hours of inertial data and corresponding ground truth trajectories. The data is freely accessible through our figshare repository.

摘要
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/76aa0d118e0c/41597_2024_3917_Fig19_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/35500c512b09/41597_2024_3917_Fig1_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/522fd09a48bd/41597_2024_3917_Fig2_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/946665ffcd06/41597_2024_3917_Fig3_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/eaf3f13d249f/41597_2024_3917_Fig4_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/8989a775c5e3/41597_2024_3917_Fig5_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/3ca7abeb392f/41597_2024_3917_Fig6_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/165974196282/41597_2024_3917_Fig7_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/975dabe8f451/41597_2024_3917_Fig8_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/629447b273bc/41597_2024_3917_Fig9_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/dbd819bb1c78/41597_2024_3917_Fig10_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/b5eee82baba2/41597_2024_3917_Fig11_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/585d19d4ee7f/41597_2024_3917_Fig12_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/0231227fdf02/41597_2024_3917_Fig13_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/a3612be5eabc/41597_2024_3917_Fig14_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/2a58b50e2387/41597_2024_3917_Fig15_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/ae0f70e20a77/41597_2024_3917_Fig16_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/b7b895ee6ce4/41597_2024_3917_Fig17_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/756c7a73d983/41597_2024_3917_Fig18_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/76aa0d118e0c/41597_2024_3917_Fig19_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/35500c512b09/41597_2024_3917_Fig1_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/522fd09a48bd/41597_2024_3917_Fig2_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/946665ffcd06/41597_2024_3917_Fig3_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/eaf3f13d249f/41597_2024_3917_Fig4_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/8989a775c5e3/41597_2024_3917_Fig5_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/3ca7abeb392f/41597_2024_3917_Fig6_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/165974196282/41597_2024_3917_Fig7_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/975dabe8f451/41597_2024_3917_Fig8_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/629447b273bc/41597_2024_3917_Fig9_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/dbd819bb1c78/41597_2024_3917_Fig10_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/b5eee82baba2/41597_2024_3917_Fig11_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/585d19d4ee7f/41597_2024_3917_Fig12_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/0231227fdf02/41597_2024_3917_Fig13_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/a3612be5eabc/41597_2024_3917_Fig14_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/2a58b50e2387/41597_2024_3917_Fig15_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/ae0f70e20a77/41597_2024_3917_Fig16_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/b7b895ee6ce4/41597_2024_3917_Fig17_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/756c7a73d983/41597_2024_3917_Fig18_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8f5f/11450167/76aa0d118e0c/41597_2024_3917_Fig19_HTML.jpg

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本文引用的文献

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