Pedestrian Dead-Reckoning Algorithms For Dual Foot-Mounted Inertial Sensors

Autor:	Chistiakov, I. A., Nikulin, A. A., Gartseev, I. B.
Rok vydání:	2019
Předmět:	Electrical Engineering and Systems Science - Systems and Control Electrical Engineering and Systems Science - Signal Processing
Zdroj:	Proc. 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS), IEEE, May 2019, pp.1-8
Druh dokumentu:	Working Paper
DOI:	10.23919/ICINS.2019.8769341
Popis:	This work proposes algorithms for reconstruction of closed-loop pedestrian trajectories based on two foot-mounted inertial measurement units (IMU). The first proposed algorithm allows calculation of a trajectory using measurements from only one IMU. The second algorithm uses data from both foot-mounted IMUs simultaneously. Both algorithms are based on the Kalman filter and the assumption that while a foot is on the ground its velocity is supposed to be zero. Two methods for comparing the obtained trajectories are proposed, advantages and disadvantages of each method are indicated and a way to optimize the computation time is presented. In addition, a method is proposed for constructing one generalized trajectory of human motion based on the trajectories of each leg. Comment: The data used in the article are available for downloading at http://gartseev.ru/projects/mkins2019
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/1908.07369 Zobrazit plný text záznamu View this record from Arxiv