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

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

 and *
Received: 8 July 2011; in revised form: 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.
Keywords: inertial sensors; angle measurement; pedestrian navigation; Kalman filter
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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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.

AMA Style

Park SK, Suh YS. Height Compensation Using Ground Inclination Estimation in Inertial Sensor-Based Pedestrian Navigation. Sensors. 2011; 11(8):8045-8059.

Chicago/Turabian Style

Park, Sang Kyeong; Suh, Young Soo. 2011. "Height Compensation Using Ground Inclination Estimation in Inertial Sensor-Based Pedestrian Navigation." Sensors 11, no. 8: 8045-8059.


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