5,610 research outputs found

    PDR with a Foot-Mounted IMU and Ramp Detection

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    The localization of persons in indoor environments is nowadays an open problem. There are partial solutions based on the deployment of a network of sensors (Local Positioning Systems or LPS). Other solutions only require the installation of an inertial sensor on the person’s body (Pedestrian Dead-Reckoning or PDR). PDR solutions integrate the signals coming from an Inertial Measurement Unit (IMU), which usually contains 3 accelerometers and 3 gyroscopes. The main problem of PDR is the accumulation of positioning errors due to the drift caused by the noise in the sensors. This paper presents a PDR solution that incorporates a drift correction method based on detecting the access ramps usually found in buildings. The ramp correction method is implemented over a PDR framework that uses an Inertial Navigation algorithm (INS) and an IMU attached to the person’s foot. Unlike other approaches that use external sensors to correct the drift error, we only use one IMU on the foot. To detect a ramp, the slope of the terrain on which the user is walking, and the change in height sensed when moving forward, are estimated from the IMU. After detection, the ramp is checked for association with one of the existing in a database. For each associated ramp, a position correction is fed into the Kalman Filter in order to refine the INS-PDR solution. Drift-free localization is achieved with positioning errors below 2 meters for 1,000-meter-long routes in a building with a few ramps

    Measurement of the mass and lifetime of the Ωb\Omega_b^- baryon

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    A proton-proton collision data sample, corresponding to an integrated luminosity of 3 fb1^{-1} collected by LHCb at s=7\sqrt{s}=7 and 8 TeV, is used to reconstruct 63±963\pm9 ΩbΩc0π\Omega_b^-\to\Omega_c^0\pi^-, Ωc0pKKπ+\Omega_c^0\to pK^-K^-\pi^+ decays. Using the ΞbΞc0π\Xi_b^-\to\Xi_c^0\pi^-, Ξc0pKKπ+\Xi_c^0\to pK^-K^-\pi^+ decay mode for calibration, the lifetime ratio and absolute lifetime of the Ωb\Omega_b^- baryon are measured to be \begin{align*} \frac{\tau_{\Omega_b^-}}{\tau_{\Xi_b^-}} &= 1.11\pm0.16\pm0.03, \\ \tau_{\Omega_b^-} &= 1.78\pm0.26\pm0.05\pm0.06~{\rm ps}, \end{align*} where the uncertainties are statistical, systematic and from the calibration mode (for τΩb\tau_{\Omega_b^-} only). A measurement is also made of the mass difference, mΩbmΞbm_{\Omega_b^-}-m_{\Xi_b^-}, and the corresponding Ωb\Omega_b^- mass, which yields \begin{align*} m_{\Omega_b^-}-m_{\Xi_b^-} &= 247.4\pm3.2\pm0.5~{\rm MeV}/c^2, \\ m_{\Omega_b^-} &= 6045.1\pm3.2\pm 0.5\pm0.6~{\rm MeV}/c^2. \end{align*} These results are consistent with previous measurements.Comment: 11 pages, 5 figures, All figures and tables, along with any supplementary material and additional information, are available at https://lhcbproject.web.cern.ch/lhcbproject/Publications/LHCbProjectPublic/LHCb-PAPER-2016-008.htm
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