Author
Guo, Q., Bebek, Özkan, Çavuşoğlu, M. C., Mastrangelo, C. H., Young, D. J.
Publication Date
2015
Publication Place
-
IEEE
Subject
Personal navigation, Pedestrian navigation, Inertial navigation, Dead reckoning, IMU bias, ZUPTing, Ground reaction sensor array, Pressure sensor array, Tactile sensor array, Kalman filter, Capacitance-to-voltage converter
Type
Document
Language
English
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
2159-547X
Record ID
2954aa72-c6ef-48ac-b09b-52ce01f8c0db
Library Location
Mechanical Engineering
Date
2015
Notes
Due to copyright restrictions, the access to the full text of this article is only available via subscription.
Sample Text
This paper describes a prototype personal navigation system developed for position tracking under GPS denied environments by employing a commercial inertial measurement unit (IMU) and a MEMS-based ground reaction sensor array (GRSA). The GRSA is used to provide zero-velocity updating for the IMU. A Kalman filter further estimates the IMU output bias during the zero-velocity period, which is then removed from the IMU's subsequent output signals to improve the navigation accuracy. Seven 10-minute square-loop walking tests were performed to achieve an in-plane navigation accuracy ranging from 0.4 meter to 3.4 meter with a vertical position accuracy of approximately 1 meter. A further improved performance over an extended navigation time is expected through enhancing the GRSA sensitivity.
DOI
10.1109/TRANSDUCERS.2015.7181113
