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Pedestrian Navigation Based on a Waist-Worn Inertial Sensor
Multisensor Systems & Robotics Lab (SiMuR), Department of Electrical and Computer Engineering, University of Oviedo, Campus de Gijón, Edificio n°2, Gijón 33204, Spain
* Author to whom correspondence should be addressed.
Received: 1 July 2012; in revised form: 17 July 2012 / Accepted: 25 July 2012 / Published: 3 August 2012
Abstract: We present a waist-worn personal navigation system based on inertial measurement units. The device makes use of the human bipedal pattern to reduce position errors. We describe improved algorithms, based on detailed description of the heel strike biomechanics and its translation to accelerations of the body waist to estimate the periods of zero velocity, the step length, and the heading estimation. The experimental results show that we are able to support pedestrian navigation with the high-resolution positioning required for most applications.
Keywords: pedestrian dead-reckoning; inertial navigation; localization; location based services; ambulatory monitoring; human motion
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Cite This Article
MDPI and ACS Style
Alvarez, J.C.; Alvarez, D.; López, A.; González, R.C. Pedestrian Navigation Based on a Waist-Worn Inertial Sensor. Sensors 2012, 12, 10536-10549.
Alvarez JC, Alvarez D, López A, González RC. Pedestrian Navigation Based on a Waist-Worn Inertial Sensor. Sensors. 2012; 12(8):10536-10549.
Alvarez, Juan Carlos; Alvarez, Diego; López, Antonio; González, Rafael C. 2012. "Pedestrian Navigation Based on a Waist-Worn Inertial Sensor." Sensors 12, no. 8: 10536-10549.