DocumentCode
2078
Title
Tutorial: Implementing a Pedestrian Tracker Using Inertial Sensors
Author
Fischer, Carl ; Talkad Sukumar, Poorna ; Hazas, Mike
Author_Institution
Lancaster University, UK
Volume
12
Issue
2
fYear
2013
fDate
April-June 2013
Firstpage
17
Lastpage
27
Abstract
Shoe-mounted inertial sensors offer a convenient way to track pedestrians in situations where other localization systems fail. This tutorial outlines a simple yet effective approach for implementing a reasonably accurate tracker. This Web extra presents the Matlab implementation and a few sample recordings for implementing the pedestrian inertial tracking system using an error-state Kalman filter for zero-velocity updates (ZUPTs) and orientation estimation.
Keywords
Accelerometers; Gyroscopes; Legged locomotion; Mobile radio mobility management; Navigation; Sensors; Tracking; Tutorials; Ubiquitous computing; Wearable computers; Accelerometers; Gyroscopes; Kalman filtering; Legged locomotion; Mobile radio mobility management; Navigation; Sensors; Tracking; Tutorials; Ubiquitous computing; Wearable computers; inertial navigation; pedestrian tracking; pervasive computing;
fLanguage
English
Journal_Title
Pervasive Computing, IEEE
Publisher
ieee
ISSN
1536-1268
Type
jour
DOI
10.1109/MPRV.2012.16
Filename
6127851
Link To Document