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      Personal navigation via high-resolution gait-corrected inertial measurement units

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      Author(s)
      Bebek O.
      Suster, M.A.
      Rajgopal, S.
      Fu, M.J.
      Huang X.
      Çavuşoğlu, M. Cenk
      Young, D.J.
      Mehregany, M.
      Van Den Bogert, A.J.
      Mastrangelo, C.H.
      Date
      2010
      Source Title
      IEEE Transactions on Instrumentation and Measurement
      Print ISSN
      0018-9456
      Publisher
      IEEE
      Volume
      59
      Issue
      11
      Pages
      3018 - 3027
      Language
      English
      Type
      Article
      Item Usage Stats
      151
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      274
      downloads
      Abstract
      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.
      Keywords
      Dead reckoning
      inertial measurement
      Kalman filter (KF)
      pedestrian navigation system
      pressure sensor array
      Beacon signals
      Dead reckoning
      Ground reactions
      High resolution
      Inertial measurement unit
      Inertial measurements
      Integration error
      Pedestrian navigation systems
      Personal navigation
      Position errors
      Precise navigations
      Kalman filters
      Navigation
      Navigation systems
      Pressure sensors
      Sensor arrays
      Units of measurement
      Global positioning system
      Permalink
      http://hdl.handle.net/11693/28534
      Published Version (Please cite this version)
      http://dx.doi.org/10.1109/TIM.2010.2046595
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      • Department of Electrical and Electronics Engineering 3702
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