?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.relation=http%3A%2F%2Fmiis.maths.ox.ac.uk%2Fmiis%2F725%2F&rft.title=Inertial+navigation+for+divers&rft.creator=Manus%2C+Lorcan+Mac&rft.creator=Brown%2C+Melvin&rft.creator=Lewis%2C+Alexander&rft.creator=Melnik%2C+A.&rft.creator=Ramos%2C+Angel+Manuel&rft.creator=Brett%2C+Charles&rft.creator=Wood%2C+David&rft.creator=von+Glehn%2C+Ingrid&rft.creator=Dewynne%2C+J.&rft.creator=Katterbauer%2C+Klemens&rft.creator=Berger%2C+Lorenz&rft.creator=Bulkowski%2C+Marcin&rft.creator=Roberts%2C+Paul&rft.creator=Whittaker%2C+Robert&rft.creator=Grandison%2C+Scott&rft.creator=O'Keeffe%2C+Stephen&rft.subject=Transport+and+Automotive&rft.description=A+SCUBA+diver+would+like+to+know+his%2Fher+position+underwater%2C+rela-+tive+to+the+dive+start+position.+GPS+is+not+an+option+as+the+signals+do+not+travel+underwater.+Transponder%2Fpinger+systems+have+already+been+developed%2C+but+these+are+expensive+and+require+configuration+by+the+boat+operator+and+the+diver.%0D%0AA+simple+standalone+affordable+dead-reckoning+system+is+needed%2C+but+it+is+inherently+difficult+to+determine+the+diver%E2%80%99s+movements.+The+system+needs+to+be+very+cheap%2C+so+that+price+is+not+a+barrier+to+its+deployment.+The+system+needs+to+be+small.%0D%0AThe+Study+Group+investigated+the+possibility+of+such+a+system+making+use+of+cheaply+available+accelerometer%2C+gyroscope+and+magnetic+field+sensors%2C+similar+to+those+included+in+many+modern+smart+phones.%0D%0AThe+Study+Group+captured+data+using+an+Android+device+strapped+to+a+skateboard+to+simulate+the+type+of+movements+a+diver+might+make+underwater.+Different+modes+of+movement+were+evident+from+filtered+versions+of+the+sensor+outputs%2C+so+indicating+that+a+pedometry+based+solution+ought+to+be+feasible.+The+Study+Group+then+formulated+and+investigated+the+feasibility+of+a+generic+dead-reckoning+system.+Although+sensors+provide+more+data+than+is+strictly+necessary%2C+significant+errors+arise+from+imperfect+calibration+and+from+noise+for+which+the+Study+Group+derived+estimates+of+the+resulting+drift+in+position+over+time.+The+accuracy+of+practical+numerical+integration+schemes+in+the+context+of+rotating+frames+was+investigated%2C+and+a+Kalman+filter+was+used+to+reduce+error+in+the+orientation+data+by+combining+accelerometer+and+gyroscopic+data.&rft.date=2012&rft.type=Study+Group+Report&rft.type=NonPeerReviewed&rft.format=application%2Fpdf&rft.language=en&rft.identifier=http%3A%2F%2Fmiis.maths.ox.ac.uk%2Fmiis%2F725%2F1%2FESGI85-VR_CaseStudy.pdf&rft.identifier=++Manus%2C+Lorcan+Mac+and+Brown%2C+Melvin+and+Lewis%2C+Alexander+and+Melnik%2C+A.+and+Ramos%2C+Angel+Manuel+and+Brett%2C+Charles+and+Wood%2C+David+and+von+Glehn%2C+Ingrid+and+Dewynne%2C+J.+and+Katterbauer%2C+Klemens+and+Berger%2C+Lorenz+and+Bulkowski%2C+Marcin+and+Roberts%2C+Paul+and+Whittaker%2C+Robert+and+Grandison%2C+Scott+and+O'Keeffe%2C+Stephen++(2012)+Inertial+navigation+for+divers.++%5BStudy+Group+Report%5D+++++