A pedestrian navigation system based on low cost IMU

Li, Y; Jack Wang, J

A pedestrian navigation system based on low cost IMU

Li, Y

Jack Wang, J

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Publication Type:: Journal Article
Citation:: Journal of Navigation, 2014, 67 (6), pp. 929 - 949
Issue Date:: 2014-01-01

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Field	Value	Language
dc.contributor.author	Li, Y https://orcid.org/0000-0001-6682-0456	en_US
dc.contributor.author	Jack Wang, J https://orcid.org/0000-0002-6282-0456	en_US
dc.date.issued	2014-01-01	en_US
dc.identifier.citation	Journal of Navigation, 2014, 67 (6), pp. 929 - 949	en_US
dc.identifier.issn	0373-4633	en_US
dc.identifier.uri	http://hdl.handle.net/10453/37491
dc.description.abstract	© 2014 The Royal Institute of Navigation. For indoor pedestrian navigation with a shoe-mounted inertial measurement unit (IMU, the zero velocity update (ZUPT technique is implemented to constrain the sensors' error. ZUPT uses the fact that a stance phase appears in each step at zero velocity to correct IMU errors periodically. This paper introduces three main contributions we have achieved based on ZUPT. Since correct stance phase detection is critical for the success of applying ZUPT, we have developed a new approach to detect the stance phase of different gait styles, including walking, running and stair climbing. As the extension of ZUPT, we have proposed a new concept called constant velocity update (CUPT to correct IMU errors on a moving platform with constant velocity, such as elevators or escalators where ZUPT is infeasible. A closed-loop step-wise smoothing algorithm has also been developed to eliminate discontinuities in the trajectory caused by sharp corrections. Experimental results demonstrate the effectiveness of the proposed algorithms.	en_US
dc.relation.ispartof	Journal of Navigation	en_US
dc.relation.isbasedon	10.1017/S0373463314000344	en_US
dc.subject.classification	Logistics & Transportation	en_US
dc.title	A pedestrian navigation system based on low cost IMU	en_US
dc.type	Journal Article
utslib.citation.volume	6	en_US
utslib.citation.volume	67	en_US
utslib.for	0909 Geomatic Engineering	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	open_access
pubs.issue	6	en_US
pubs.publication-status	Published	en_US
pubs.volume	67	en_US

Abstract:

© 2014 The Royal Institute of Navigation. For indoor pedestrian navigation with a shoe-mounted inertial measurement unit (IMU, the zero velocity update (ZUPT technique is implemented to constrain the sensors' error. ZUPT uses the fact that a stance phase appears in each step at zero velocity to correct IMU errors periodically. This paper introduces three main contributions we have achieved based on ZUPT. Since correct stance phase detection is critical for the success of applying ZUPT, we have developed a new approach to detect the stance phase of different gait styles, including walking, running and stair climbing. As the extension of ZUPT, we have proposed a new concept called constant velocity update (CUPT to correct IMU errors on a moving platform with constant velocity, such as elevators or escalators where ZUPT is infeasible. A closed-loop step-wise smoothing algorithm has also been developed to eliminate discontinuities in the trajectory caused by sharp corrections. Experimental results demonstrate the effectiveness of the proposed algorithms.

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

http://hdl.handle.net/10453/37491