A robust pedestrian navigation algorithm with low cost IMU

Li, Y; Wang, JJ

A robust pedestrian navigation algorithm with low cost IMU

Li, Y Wang, JJ

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Publication Type:: Conference Proceeding
Citation:: 2012 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2012 - Conference Proceedings, 2012
Issue Date:: 2012-12-01

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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.date.issued	2012-12-01	en_US
dc.identifier.citation	2012 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2012 - Conference Proceedings, 2012	en_US
dc.identifier.isbn	9781467319546	en_US
dc.identifier.uri	http://hdl.handle.net/10453/32325
dc.description.abstract	Zero velocity update (ZUPT) is an effective way for pedestrian navigation in a GPS (Global Positioning System) denied environment. The stance phase in each step provides zero velocity measurement for IMU (Inertial Measurement Unit) drift correction. Most previous research, however, gives navigation solutions only for pedestrian walking but not running. Compared with walking, running has a shorter stance phase with qualified as zero velocity. Therefore a stance phase detector for walking may not be capable for running. This paper presents a novel ZUPT algorithm which can achieve robust pedestrian navigation for walking, stair climbing, and running. Our stance phase detector consists of one footstep detector and two zero velocity detectors (ZVDs).The footstep detector is used to mark each new step, and the first ZVD (ZVD1) can successfully detect zero velocity while walking by setting thresholds on both gyroscope and accelerometer measurements. While ZVD1 is failed for running, the second ZVD (ZVD2) is introduced with a relative larger threshold on gyroscope measurement only. The proposed stance phase detector was tested for walking, running and stair climbing. In all cases, most of the footsteps are detected correctly and our ZUPT algorithm can be successfully implemented. Experimental results show that the navigation accuracy of the proposed algorithm for running cases is comparable to that of walking only cases. Tests on a biped robot are being also conducted to verify the effectiveness of the algorithm. © 2012 IEEE.	en_US
dc.relation.ispartof	2012 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2012 - Conference Proceedings	en_US
dc.relation.isbasedon	10.1109/IPIN.2012.6418861	en_US
dc.title	A robust pedestrian navigation algorithm with low cost IMU	en_US
dc.type	Conference Proceeding
utslib.for	090904 Navigation and Position Fixing	en_US
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:

Zero velocity update (ZUPT) is an effective way for pedestrian navigation in a GPS (Global Positioning System) denied environment. The stance phase in each step provides zero velocity measurement for IMU (Inertial Measurement Unit) drift correction. Most previous research, however, gives navigation solutions only for pedestrian walking but not running. Compared with walking, running has a shorter stance phase with qualified as zero velocity. Therefore a stance phase detector for walking may not be capable for running. This paper presents a novel ZUPT algorithm which can achieve robust pedestrian navigation for walking, stair climbing, and running. Our stance phase detector consists of one footstep detector and two zero velocity detectors (ZVDs).The footstep detector is used to mark each new step, and the first ZVD (ZVD1) can successfully detect zero velocity while walking by setting thresholds on both gyroscope and accelerometer measurements. While ZVD1 is failed for running, the second ZVD (ZVD2) is introduced with a relative larger threshold on gyroscope measurement only. The proposed stance phase detector was tested for walking, running and stair climbing. In all cases, most of the footsteps are detected correctly and our ZUPT algorithm can be successfully implemented. Experimental results show that the navigation accuracy of the proposed algorithm for running cases is comparable to that of walking only cases. Tests on a biped robot are being also conducted to verify the effectiveness of the algorithm. © 2012 IEEE.

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http://hdl.handle.net/10453/32325