Next Article in Journal
Segmentation of Planar Surfaces from Laser Scanning Data Using the Magnitude of Normal Position Vector for Adaptive Neighborhoods
Previous Article in Journal
A Machine Learning Framework for Gait Classification Using Inertial Sensors: Application to Elderly, Post-Stroke and Huntington’s Disease Patients
Article Menu

Export Article

Open AccessArticle
Sensors 2016, 16(1), 139;

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

School of Electronic Information & Control Engineering, Beijing University of Technology, Beijing 100124, China
Engineering Research Center of Digital Community, Ministry of Education, Beijing 100124, China
Beijing Key Laboratory of Computational Intelligence and Intelligent Systems, Beijing 100124, China
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)
Full-Text   |   PDF [3718 KB, uploaded 21 January 2016]   |  


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

Figure 1

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).

Share & Cite This Article

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.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top