Towards Real-Time Partially Self-Calibrating Pedestrian Navigation With an Inertial Sensor Array

• Published in: IEEE sensors journal Vol. 20; no. 12; pp. 6634 - 6641
• Main Authors: Razavi, H., Salarieh, H., Alasty, A.
• Format: Journal Article
• Language: English
• Published: New York IEEE 15.06.2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Accelerometers; Algorithms; Biomechanics; Calibration; calibration and identification; Estimation; Gyroscopes; Inertial navigation; Inertial sensing devices; Kalman filters; Motion capture; Neural networks; Optical communication; Orthogonality; Position measurement; Real time; Real-time systems; Root-mean-square errors; Sensor arrays; Sensor fusion; Sensors; unscented filtering; Walking

Inspired by algorithms utilized in inertial navigation, an inertial motion capturing algorithm capable of position and heading estimation is introduced. The fusion algorithm is capable of real-time link geometry estimation, which allows for the imposition of biomechanical constraints without a prior...