Pedestrian Navigation Based on a Waist-Worn Inertial Sensor
نویسندگان
چکیده
منابع مشابه
Pedestrian Navigation Based on a Waist-Worn Inertial Sensor
We present a waist-worn personal navigation system based on inertial measurement units. The device makes use of the human bipedal pattern to reduce position errors. We describe improved algorithms, based on detailed description of the heel strike biomechanics and its translation to accelerations of the body waist to estimate the periods of zero velocity, the step length, and the heading estimat...
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We propose a novel hybrid inertial sensors-based indoor pedestrian dead reckoning system, aided by computer vision-derived position measurements. In contrast to prior vision-based or vision-aided solutions, where environmental markers were used-either deployed in known positions or extracted directly from it-we use a shoe-fixed marker, which serves as positional reference to an opposite shoe-mo...
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Foot-mounted inertial sensors can be used for indoor pedestrian navigation. In this paper, to improve the accuracy of pedestrian location, we propose a method using a distance sensor (LIDAR) in addition to an inertial measurement unit (IMU). The distance sensor is a time of flight range finder with 30 m measurement range (at 33.33 Hz). Using a distance sensor, walls on corridors are automatical...
متن کاملUnsupervised nonparametric method for gait analysis using a waist-worn inertial sensor
This paper describes a nonparametric approach for analyzing gait and identifying bilateral heel-strike events in data from an inertial measurement unit worn on the waist. The approach automatically adapts to variations in gait of the subjects by including a classifier that continuously evolves as it “learns” aspects of each individual’s gait profile. The novel data-driven approach is shown to b...
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This paper proposes a novel zero velocity update (ZUPT) method for a foot-mounted pedestrian navigation system (PNS). First, the error model of the PNS is developed and a Kalman filter is built based on the error model. Second, a novel zero velocity detection algorithm based on the variations in speed over a gait cycle is proposed. A finite state machine including three states is employed to mo...
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ژورنال
عنوان ژورنال: Sensors
سال: 2012
ISSN: 1424-8220
DOI: 10.3390/s120810536