Title :
Tutorial: Implementing a Pedestrian Tracker Using Inertial Sensors
Author :
Fischer, Carl ; Talkad Sukumar, Poorna ; Hazas, Mike
Author_Institution :
Lancaster University, UK
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;
Journal_Title :
Pervasive Computing, IEEE
DOI :
10.1109/MPRV.2012.16
