| Autor: |
Lingxiang Zheng, Shuxiang Pu, Weiwei Tang, Huiru Zheng, Bruce Liao, Hui Yang, Jolly Wang, Xianchao Zheng |
| Rok vydání: |
2014 |
| Předmět: |
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| Zdroj: |
Lecture Notes in Electrical Engineering ISBN: 9783642548994 |
| DOI: |
10.1007/978-3-642-54900-7_10 |
| Popis: |
High accuracy in indoor navigation with shoe-mounted inertial sensors attracts a lot of researches in the last decades. In this paper, we build an indoor navigation system using a kind of estimation architecture with shoe-mounted inertial sensors. The architecture consists of zero velocity update (ZUPT) and extended Kalman filter (EKF). The ZUPT during the rest phase of a pedestrian’s foot can be used together with an EKF. The real time EKF runs to estimate the drift error and non-linear error growth of accelerometers and gyroscopes. The algorithm is inspected and verified on an experiment board. It presents a good performance. The position error of our algorithm is below 1% of the actual total traveled distance. It is feasible to obtain a long-term stability and high accuracy in an indoor navigation scenario. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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