Personal navigation via high-resolution gait-corrected inertial measurement units
Author
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
2010Source Title
IEEE Transactions on Instrumentation and Measurement
Print ISSN
0018-9456
Publisher
IEEE
Volume
59
Issue
11
Pages
3018 - 3027
Language
English
Type
ArticleItem Usage Stats
53
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Metadata
Show full item recordAbstract
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 reckoninginertial 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/11693/28534Published Version (Please cite this version)
http://dx.doi.org/10.1109/TIM.2010.2046595Collections
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