Personal navigation via high-resolution gait-corrected inertial measurement units
IEEE Transactions on Instrumentation and Measurement
3018 - 3027
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In this paper, a personal micronavigation system that uses high-resolution gait-corrected inertial measurement units is presented. The goal of this paper is to develop a navigation system that uses secondary inertial variables, such as velocity, to enable long-term precise navigation in the absence of Global Positioning System (GPS) and beacon signals. In this scheme, measured zero-velocity duration from the ground reaction sensors is used to reset the accumulated integration errors from accelerometers and gyroscopes in position calculation. With the described system, an average position error of 4 m is achieved at the end of half-hour walks. © 2010 IEEE.
Kalman filter (KF)
pedestrian navigation system
pressure sensor array
Inertial measurement unit
Pedestrian navigation systems
Units of measurement
Global positioning system
Published Version (Please cite this version)http://dx.doi.org/10.1109/TIM.2010.2046595
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