DocumentCode
3258159
Title
An improved shoe-mounted inertial navigation system
Author
Castaneda, Nadir ; Lamy-Perbal, Sylvie
Author_Institution
LIST, Commissariat a l´´Energie Atomique, Fontenay-Aux-Roses, France
fYear
2010
fDate
15-17 Sept. 2010
Firstpage
1
Lastpage
6
Abstract
This paper proposes an improved shoe-mounted inertial navigation system for pedestrian tracking. The improvements consist of a fuzzy logic (FL) procedure for better foot stance phase detection and an indirect Kalman filter (IKF) for drift correction based on the typical zero-updating (ZUPT) measurement and our proposed angular updating (AUPT) pseudo-measurement. We illustrate our findings using a real time implementation of the proposed approach.
Keywords
Kalman filters; footwear industry; fuzzy logic; inertial navigation; angular updating pseudo measurement; drift correction; foot stance phase detection; fuzzy logic procedure; indirect Kalman filter; pedestrian tracking; real time implementation; shoe mounted inertial navigation system; zero updating measurement; Accelerometers; Covariance matrix; Detectors; Foot; Kalman filters; Navigation; Quaternions;
fLanguage
English
Publisher
ieee
Conference_Titel
Indoor Positioning and Indoor Navigation (IPIN), 2010 International Conference on
Conference_Location
Zurich
Print_ISBN
978-1-4244-5862-2
Electronic_ISBN
978-1-4244-5865-3
Type
conf
DOI
10.1109/IPIN.2010.5646858
Filename
5646858
Link To Document