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Sensors 2016, 16(1), 139; doi:10.3390/s16010139

A Novel Pedestrian Navigation Algorithm for a Foot-Mounted Inertial-Sensor-Based System

1
School of Electronic Information & Control Engineering, Beijing University of Technology, Beijing 100124, China
2
Engineering Research Center of Digital Community, Ministry of Education, Beijing 100124, China
3
Beijing Key Laboratory of Computational Intelligence and Intelligent Systems, Beijing 100124, China
4
Beijing Laboratory for Urban Mass Transit, Beijing 100124, China
*
Author to whom correspondence should be addressed.
Academic Editor: Gert F. Trommer
Received: 8 October 2015 / Revised: 7 January 2016 / Accepted: 18 January 2016 / Published: 21 January 2016
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [3718 KB, uploaded 21 January 2016]   |  

Abstract

This paper proposes a novel zero velocity update (ZUPT) method for a foot-mounted pedestrian navigation system (PNS). First, the error model of the PNS is developed and a Kalman filter is built based on the error model. Second, a novel zero velocity detection algorithm based on the variations in speed over a gait cycle is proposed. A finite state machine including three states is employed to model a gait cycle. The state transition conditions are determined based on speed using a sliding window. Third, the ZUPT software flow is illustrated and described. Finally, the performances of the proposed method and other methods are examined and compared experimentally. The experimental results show that the mean relative accuracy of the proposed method is 0.89% under various motion modes. View Full-Text
Keywords: Kalman filter; foot-mounted PNS; ZUPT Kalman filter; foot-mounted PNS; ZUPT
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. (CC BY 4.0).

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MDPI and ACS Style

Ren, M.; Pan, K.; Liu, Y.; Guo, H.; Zhang, X.; Wang, P. A Novel Pedestrian Navigation Algorithm for a Foot-Mounted Inertial-Sensor-Based System. Sensors 2016, 16, 139.

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