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Sensors 2016, 16(1), 120;

Pedestrian Navigation Using Foot-Mounted Inertial Sensor and LIDAR

Department of Electrical Engineering, University of Ulsan, Namgu, Ulsan 680-749, Korea
Author to whom correspondence should be addressed.
Academic Editor: Vittorio M. N. Passaro
Received: 21 November 2015 / Revised: 14 January 2016 / Accepted: 15 January 2016 / Published: 19 January 2016
(This article belongs to the Section Physical Sensors)
Full-Text   |   PDF [4350 KB, uploaded 19 January 2016]   |  


Foot-mounted inertial sensors can be used for indoor pedestrian navigation. In this paper, to improve the accuracy of pedestrian location, we propose a method using a distance sensor (LIDAR) in addition to an inertial measurement unit (IMU). The distance sensor is a time of flight range finder with 30 m measurement range (at 33.33 Hz). Using a distance sensor, walls on corridors are automatically detected. The detected walls are used to correct the heading of the pedestrian path. Through experiments, it is shown that the accuracy of the heading is significantly improved using the proposed algorithm. Furthermore, the system is shown to work robustly in indoor environments with many doors and passing people. View Full-Text
Keywords: inertial sensor; IMU; distance sensor; LIDAR; pedestrian navigation; Kalman filters inertial sensor; IMU; distance sensor; LIDAR; pedestrian navigation; Kalman filters

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Pham, D.D.; Suh, Y.S. Pedestrian Navigation Using Foot-Mounted Inertial Sensor and LIDAR. Sensors 2016, 16, 120.

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