Samsung Galaxy Note 2
InertialNav at Google Play market analyse
Estimation application downloads and cost
Description
InertialNav App is a toolbox for inertial navigation. It uses information from sensors (e.g. accelerometer, gyroscope, magnetometer, and GPS), when available, to derive attitude, position and velocity information.Recent methods are used in InertialNav App to provide reliable and robust attitude estimation. InertialNav App can provide an attitude estimation that is, in average, unbiaised by local accelerations, taking the most from low-grade sensors generally available in handset and tablets.It includes the following instruments: ✔ artificial horizon / gyro attitude indicator, ✔ altimeter, ✔ 3D compass (gyro, magnetic) that works in every orientations, ✔ speed meter (ground speed, vertical speed), ✔ ground track.An optimal filter is used to estimate as accurately as possible attitude and position of the device. Bear in mind, though, that phones usually have low-quality sensors.In addition: ✔ A HUD mode allows using the application for augmented reality. ✔ You can display a Google Map for your position, ✔ You can monitor the sensors in your Android device, ✔ You can store real-time measurements and estimations into GPX file (GPS measures only), text files or, send these measurement over a wifi internal network with UDP, for post-processing (e.g. into MATLAB, SciLab, LabView, ...). ✔ complete set of options allow you to fine tune the apps to your particular needs. If a feature is missing, do not hesitate to ask!HOW DOES IT WORK?In real life environment, sensors tend to measure noises in addition to the physical quantity of interest. The current application provides an estimate of the attitude. To have the best estimation of the attitude an data fusion (EKF, UKF) is used. The filter purpose is to reject all perturbations, but to do so efficiently, it needs different sources of measurments. Considering we are interested by the orientation, and your device is indeed an inertial measurement unit (IMU with gyroscopes, accelerometers and so on), using gyroscopes for angular velocity and a set of measurements from accelerometers and magnetometers, InertialNav can indeed estimate the attitude with the filter. That is, to estimate the attitude, InertialNav will sometimes discard information from the sensors that it deems unreliable or too noisy - it may sometimes favour the attitude measurements rather than the angular velocity integration and vice versa - to minimise the covariance of the error. Furthermore, quaternion formulation for the orientation makes the estimation very robust.Additionally, if GPS is available, sub-meter positioning can be obtained. That is, this can not work efficiently indoors (drift in position and velocity).** IMPORTANT ** : depending on your device, please consider going through the covariance settings for best estimation of the attitude! InertialNav may disregard the measurements if deemed unreliable. If YOU THINK the app does not use the gyroscopes, please CHECK the variance settings for the gyroscopes. OUTPUTSData can be saved as a text file on the SD card.Data can also be send over UDP local wifi network. Data are send as float (4 bytes, Little endian), as following:[time, Measured Acceleration {X, Y, Z}, Measured Orientation {Pitch, Roll, Yaw}, Magnetic Field {X, Y, Z}, Pitch Estimate, Roll Estimate, Yaw Estimate]MINIMUM REQUIREMENTSMinimum requirements: accelerometers, gyroscopes, magnetometers.Optional requirements: GPS, camera. - Groundtrack mode will only be available when GPS is enabled, - HeadUp Display will only be available when a camera is available, - Multiple panels only available for 7" and above screen size.The application is provided as-is, without any warranty. The application is not certified for navigation purposes by any agency or organisation. It should not be used as navigation instrument in a plane!If you find bugs, please report them by email. Thanks!Export track data to GPX file.Upgrade compass with camera view.Improve fragments management.Minor bug fixes.Thanks for reporting bugs. If you find an issue, just send me an email, Ill correct it promptly.
Reviews
Nice application with good UI. There is a lot of work in the covariance settings and Kalman filters. I was quite disappointed that the text output does not seem to work, and this was the main reason I bought the app. Toggling between GPX and MatLab seems to always give GPX output. I sent a email reporting the bug last week, but so far have had no response.
Not sure it is doing what it says. I expected to be able to use it a a nav tool while the GPS is disabled (after getting a position) but the ground track is also turned off. If I leave the GPS turned on and it loses the signal will it still calculate position via other sensors??? Lack of ability to zoom in and out on google map view is very disappointing. Using S4 Galaxy
It has a heads up mode. However, zeroing the pitch for the attitude display does not seem to work when it is used lying flat. Annoyingly the units do not include knots/ nautical miles. A PDF manual would be useful. I know the gyros and accelerometers in mobiles are not that high quality. In principle however it should be possible to get a crude INS to work and hopefully future phones will have better sensor platforms.
The calibrate sensors option seems to do nothing. It has option to zero pitch but no option to zero roll. If I could zero roll I'd give it four stars, the sensor filters are the best I've seen in similar apps but having the horizon perpetually crooked makes it unusable.
This app looks sexy on the paper and could have been a great app but finally does not do what it is supposed to. 1. not help file to explain how to tune the settings, especially the covariance etc... 2. inertial navigation does not work when entering buildings 3. Matlab format stay in GPX file 4. GPX files containst unreliable information (time stays in 1970!, GPS position not updated... even the GPX file name does not containt teh right month number! 5. I tried it on a Sony Xperia Z5 and Samsung S4 wit the same issues. could be removed from the store. I just lost 2.50€ and still looking for a working INS apps
Information is displayed in microscopic font. Distance from 0 is always 0. Ground speed is always 0. Ground Track only works when using Google Map option. This app should really be removed from the store as it no longer seems to function properly and hasn't been updated in years (or at least make it a free app).
