Inertial navigation algorithm for trajectory of front-wheel walker estimation
In this paper, we propose a system for trajectory of walker estimation. The system consists of an inertial measurement unit (IMU) and two encoders attached to a front-wheel walker. The IMU is employed to estimate the trajectory of the walker while the encoders are used to update the trajectory of th...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Elsevier
2019-06-01
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| Series: | Heliyon |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2405844018390157 |
| _version_ | 1819061957054955520 |
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| author | Quang Vinh Doan Duy Duong Pham |
| author_facet | Quang Vinh Doan Duy Duong Pham |
| author_sort | Quang Vinh Doan |
| collection | DOAJ |
| description | In this paper, we propose a system for trajectory of walker estimation. The system consists of an inertial measurement unit (IMU) and two encoders attached to a front-wheel walker. The IMU is employed to estimate the trajectory of the walker while the encoders are used to update the trajectory of the walker during rolling on the floor. Three update equations are proposed: quaternion update using the vertical vector, quaternion update using the yaw angle of the walker and position update using encoders. We implemented an experiment which focused on four walking styles of: continuous rolling, step by step rolling, complete lifting and 2 back tips lifting. Results of the experiment show the appropriateness of proposed update equations in all cases in general and in continuous rolling in particular. |
| first_indexed | 2024-12-21T14:51:08Z |
| format | Article |
| id | doaj.art-077f1f36e4fd43f9b59bb9147afecb6e |
| institution | Directory Open Access Journal |
| issn | 2405-8440 |
| language | English |
| last_indexed | 2024-12-21T14:51:08Z |
| publishDate | 2019-06-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Heliyon |
| spelling | doaj.art-077f1f36e4fd43f9b59bb9147afecb6e2022-12-21T18:59:52ZengElsevierHeliyon2405-84402019-06-0156e01896Inertial navigation algorithm for trajectory of front-wheel walker estimationQuang Vinh Doan0Duy Duong Pham1The University of Danang - University of Science and Technology, Danang, VietnamThe University of Danang - University of Technology and Education, Danang, Vietnam; Corresponding author.In this paper, we propose a system for trajectory of walker estimation. The system consists of an inertial measurement unit (IMU) and two encoders attached to a front-wheel walker. The IMU is employed to estimate the trajectory of the walker while the encoders are used to update the trajectory of the walker during rolling on the floor. Three update equations are proposed: quaternion update using the vertical vector, quaternion update using the yaw angle of the walker and position update using encoders. We implemented an experiment which focused on four walking styles of: continuous rolling, step by step rolling, complete lifting and 2 back tips lifting. Results of the experiment show the appropriateness of proposed update equations in all cases in general and in continuous rolling in particular.http://www.sciencedirect.com/science/article/pii/S2405844018390157Mechanical engineeringElectrical engineeringInertial sensorWalker's trajectoryFront-wheel walkerInertial navigation |
| spellingShingle | Quang Vinh Doan Duy Duong Pham Inertial navigation algorithm for trajectory of front-wheel walker estimation Heliyon Mechanical engineering Electrical engineering Inertial sensor Walker's trajectory Front-wheel walker Inertial navigation |
| title | Inertial navigation algorithm for trajectory of front-wheel walker estimation |
| title_full | Inertial navigation algorithm for trajectory of front-wheel walker estimation |
| title_fullStr | Inertial navigation algorithm for trajectory of front-wheel walker estimation |
| title_full_unstemmed | Inertial navigation algorithm for trajectory of front-wheel walker estimation |
| title_short | Inertial navigation algorithm for trajectory of front-wheel walker estimation |
| title_sort | inertial navigation algorithm for trajectory of front wheel walker estimation |
| topic | Mechanical engineering Electrical engineering Inertial sensor Walker's trajectory Front-wheel walker Inertial navigation |
| url | http://www.sciencedirect.com/science/article/pii/S2405844018390157 |
| work_keys_str_mv | AT quangvinhdoan inertialnavigationalgorithmfortrajectoryoffrontwheelwalkerestimation AT duyduongpham inertialnavigationalgorithmfortrajectoryoffrontwheelwalkerestimation |