Dead reckoning navigation with Constant Velocity Update (CUPT)

Li, Y; Wang, JJ; Xiao, S; Luo, X

Dead reckoning navigation with Constant Velocity Update (CUPT)

Li, Y Wang, JJ

Xiao, S Luo, X

Permalink

Publication Type:: Conference Proceeding
Citation:: 2012 12th International Conference on Control, Automation, Robotics and Vision, ICARCV 2012, 2012, pp. 160 - 165
Issue Date:: 2012-12-01

Closed Access

	Filename	Description	Size
	2012000558OK.pdf	Published version	4.11 MB	Adobe PDF	View/Open

Copyright Clearance Process

Recently Added
In Progress
Closed Access

This item is closed access and not available.

Full metadata record

Field	Value	Language
dc.contributor.author	Li, Y	en_US
dc.contributor.author	Wang, JJ https://orcid.org/0000-0002-6282-0456	en_US
dc.contributor.author	Xiao, S	en_US
dc.contributor.author	Luo, X	en_US
dc.date.issued	2012-12-01	en_US
dc.identifier.citation	2012 12th International Conference on Control, Automation, Robotics and Vision, ICARCV 2012, 2012, pp. 160 - 165	en_US
dc.identifier.isbn	9781467318716	en_US
dc.identifier.uri	http://hdl.handle.net/10453/31585
dc.description.abstract	This paper introduces a new algorithm for dead reckoning navigation named Constant Velocity Update (CUPT), which is an extension of popular Zero Velocity Update (ZUPT). With a low-cost IMU (Inertial Measurement Unit) attached to a user's shoe, the proposed algorithm can efficiently reduce IMU errors by detecting not only the stance phases during walking, but also the cases at constant velocity, such as in an elevator or on an escalator. The concept, design and test of a CUPT prototype are detailed in this paper. Test results show that it can effectively detect constant velocity, and its horizontal positioning errors are below 0.45% of the total distance travelled, and vertical errors below 0.25%. This performance reached the highest accuracy in available literature. © 2012 IEEE.	en_US
dc.relation.ispartof	2012 12th International Conference on Control, Automation, Robotics and Vision, ICARCV 2012	en_US
dc.relation.isbasedon	10.1109/ICARCV.2012.6485151	en_US
dc.title	Dead reckoning navigation with Constant Velocity Update (CUPT)	en_US
dc.type	Conference Proceeding
utslib.for	0906 Electrical and Electronic Engineering	en_US
dc.location.activity	Guangzhou, China
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Civil and Environmental Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

This paper introduces a new algorithm for dead reckoning navigation named Constant Velocity Update (CUPT), which is an extension of popular Zero Velocity Update (ZUPT). With a low-cost IMU (Inertial Measurement Unit) attached to a user's shoe, the proposed algorithm can efficiently reduce IMU errors by detecting not only the stance phases during walking, but also the cases at constant velocity, such as in an elevator or on an escalator. The concept, design and test of a CUPT prototype are detailed in this paper. Test results show that it can effectively detect constant velocity, and its horizontal positioning errors are below 0.45% of the total distance travelled, and vertical errors below 0.25%. This performance reached the highest accuracy in available literature. © 2012 IEEE.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/31585