A Walking Velocity Update technique for pedestrian dead-reckoning applications

Inertial sensors for pedestrian dead-reckoning (PDR) have been attracting considerable attention recently. Since accelerometers are prone to the accumulation of errors, a "Zero Velocity Update" (Z-UPT) technique [1], [2] was proposed as a means to calibrate the velocity of pedestrians. How...

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Bibliographic Details
Published in2011 IEEE 22nd International Symposium on Personal, Indoor and Mobile Radio Communications pp. 1249 - 1253
Main Authors Chi-Chung Lo, Chen-Pin Chiu, Yu-Chee Tseng, Sheng-An Chang, Lun-Chia Kuo
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2011
Subjects
Acceleration
Accelerometers
Angular velocity
body sensing
inertial measurement unit
Legged locomotion
location tracking
Magnetic sensors
pedestrian dead-reckoning
Trajectory
wireless sensor network
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Summary:Inertial sensors for pedestrian dead-reckoning (PDR) have been attracting considerable attention recently. Since accelerometers are prone to the accumulation of errors, a "Zero Velocity Update" (Z-UPT) technique [1], [2] was proposed as a means to calibrate the velocity of pedestrians. However, these inertial sensors must be mounted on the bottom of the foot, resulting in excessive vibration and errors when measuring speed or orientation. This paper proposes a self-calibrating PDR solution using two inertial sensors in conjunction with a novel concept called "Walking Velocity Update" (W-UPT). One inertial sensor is mounted on the lower leg to identify a point suitable for calibrating the walking velocity of the user (when its pitch value becomes zero), while another sensor is mounted on the upper body to track the velocity and orientation. We have developed a working prototype and tested the proposed system using actual data.
ISBN:9781457713460
1457713462
ISSN:2166-9570
DOI:10.1109/PIMRC.2011.6139700