TIE-52206 Inertial Sensors and Their Applications, 5 cr


Suitable for postgraduate studies.


Jussi Collin


Toteutuskerta Periodi Vastuuhenkilö Suoritusvaatimukset
TIE-52206 2018-01 3 - 4 Jussi Collin
Exercises and project work.


After completing the course, the student can analyze inertial sensor requirements and their design parameters. Student can design inertial sensor applications, including inertial navigation, and understands the limits of consumer-grade sensors.


Sisältö Ydinsisältö Täydentävä tietämys Erityistietämys
1. Sensor requirements, design parameters, basic principles of inertial sensor technology   optical gyroscopes   
2. Inertial navigation principles, coordinate frames   Tranformations between coordinate frames.  local level frame rotation 
3. Self-contained sensors: accelerometers and gyroscopes. Magnetometers, barometric altimeters. Sensor errors and related inertial sensor terminology  1/f noise, Allan variance   
4. Strapdown inertial navigation algorithms  sampling effects, coning motion  coning correction 
5. Filtering inertial sensor signals, Kalman filter  Non-linear filtering, particle filters, orientation estimation, AHRS filters  Map-matching, indexing 
6. Applications: Pedestrian Dead Reckoning, orientation (UI), motion mode classification, games.   North finding with MEMS gyroscopes   


Tyyppi Nimi Tekijä ISBN URL Lisätiedot Tenttimateriaali
Book   Principles of GNSS, inertial, and multisensor integrated navigation systems   P. D., Groves   ISBN-10: 1580532551       No   
Book   Strapdown Inertial Navigation Technology   D. H. Tittertton   1 56347 693 2     Second Edition   No   
Lecture slides   Lecture slides: TIE-52206 Inertial Sensors and their Applications           No   


Opintojakso P/S Selite
SGN-11000 Signaalinkäsittelyn perusteet Advisable    

Tietoa esitietovaatimuksista
Students are expected to be familiar with basic matrix algebra. Advisable background knowledge includes familiarity with sensor technologies (eg. ASE-3036 Microsensors) and positioning methods (eg. ELT-46006 Introduction to Satellite Positioning).


Opintojakso Vastaa opintojaksoa  Selite 
TIE-52206 Inertial Sensors and Their Applications, 5 cr TKT-2556 Basics of Inertial Navigation, 5 cr  

Päivittäjä: Torikka Mari, 09.03.2018