A Novel 3D Pedestrian Navigation Method for a Multiple Sensors-Based Foot-Mounted Inertial System
AbstractIn this paper, we present a novel method for 3D pedestrian navigation of foot-mounted inertial systems by integrating a MEMS-IMU, barometer, and permanent magnet. Zero-velocity update (ZUPT) is a well-known algorithm to eliminate the accumulated error of foot-mounted inertial systems. However, the ZUPT stance phase detector using acceleration and angular rate is threshold-based, which may cause incorrect stance phase estimation in the running gait pattern. A permanent magnet-based ZUPT detector is introduced to solve this problem. Peaks extracted from the magnetic field strength waveform are mid-stances of stance phases. A model of peak-peak information and stance phase duration is developed to have a quantitative calculation method of stance phase duration in different movement patterns. Height estimation using barometer is susceptible to the environment. A height difference information aided barometer (HDIB) algorithm integrating MEMS-IMU and barometer is raised to have a better height estimation. The first stage of HDIB is to distinguish level ground/upstairs/downstairs and the second stage is to calculate height using reference atmospheric pressure obtained from the first stage. At last, a ZUPT-based adaptive average window length algorithm (ZUPT-AAWL) is proposed to calculate the true total travelled distance to have a more accurate percentage error (TTDE). This proposed method is verified via multiple experiments. Numerical results show that TTDE ranges from 0.32% to 1.04% in both walking and running gait patterns, and the height estimation error is from 0 m to 2.35 m. View Full-Text
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Yang, W.; Xiu, C.; Zhang, J.; Yang, D. A Novel 3D Pedestrian Navigation Method for a Multiple Sensors-Based Foot-Mounted Inertial System. Sensors 2017, 17, 2695.
Yang W, Xiu C, Zhang J, Yang D. A Novel 3D Pedestrian Navigation Method for a Multiple Sensors-Based Foot-Mounted Inertial System. Sensors. 2017; 17(11):2695.Chicago/Turabian Style
Yang, Wei; Xiu, Chundi; Zhang, Jianmin; Yang, Dongkai. 2017. "A Novel 3D Pedestrian Navigation Method for a Multiple Sensors-Based Foot-Mounted Inertial System." Sensors 17, no. 11: 2695.
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