Personal navigation via high-resolution gait-corrected inertial measurement units
Date
2010
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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.
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IEEE Transactions on Instrumentation and Measurement
Publisher
IEEE
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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
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Language
English