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
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;
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
DOI :
10.1109/IPIN.2010.5646858
