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Sensors 2011, 11(8), 8045-8059; doi:10.3390/s110808045

Height Compensation Using Ground Inclination Estimation in Inertial Sensor-Based Pedestrian Navigation

Department of Electrical Engineering, University of Ulsan, Namgu, Ulsan 680-749, Korea
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Received: 8 July 2011 / Revised: 11 August 2011 / Accepted: 12 August 2011 / Published: 15 August 2011
(This article belongs to the Section Physical Sensors)
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Abstract

In an inertial sensor-based pedestrian navigation system, the position is estimated by double integrating external acceleration. A new algorithm is proposed to reduce z axis position (height) error. When a foot is on the ground, a foot angle is estimated using accelerometer output. Using a foot angle, the inclination angle of a road is estimated. Using this road inclination angle, height difference of one walking step is estimated and this estimation is used to reduce height error. Through walking experiments on roads with different inclination angles, the usefulness of the proposed algorithm is verified. View Full-Text
Keywords: inertial sensors; angle measurement; pedestrian navigation; Kalman filter inertial sensors; angle measurement; pedestrian navigation; Kalman filter
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This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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MDPI and ACS Style

Park, S.K.; Suh, Y.S. Height Compensation Using Ground Inclination Estimation in Inertial Sensor-Based Pedestrian Navigation. Sensors 2011, 11, 8045-8059.

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