A Novel Pedestrian Navigation Algorithm for a Foot-Mounted Inertial-Sensor-Based System
This paper proposes a novel zero velocity update (ZUPT) method for a foot-mounted pedestrian navigation system (PNS). First, the error model of the PNS is developed and a Kalman filter is built based on the error model. Second, a novel zero velocity detection algorithm based on the variations in spe...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2016-01-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/16/1/139 |
| _version_ | 1811297955662004224 |
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| author | Mingrong Ren Kai Pan Yanhong Liu Hongyu Guo Xiaodong Zhang Pu Wang |
| author_facet | Mingrong Ren Kai Pan Yanhong Liu Hongyu Guo Xiaodong Zhang Pu Wang |
| author_sort | Mingrong Ren |
| collection | DOAJ |
| description | This paper proposes a novel zero velocity update (ZUPT) method for a foot-mounted pedestrian navigation system (PNS). First, the error model of the PNS is developed and a Kalman filter is built based on the error model. Second, a novel zero velocity detection algorithm based on the variations in speed over a gait cycle is proposed. A finite state machine including three states is employed to model a gait cycle. The state transition conditions are determined based on speed using a sliding window. Third, the ZUPT software flow is illustrated and described. Finally, the performances of the proposed method and other methods are examined and compared experimentally. The experimental results show that the mean relative accuracy of the proposed method is 0.89% under various motion modes. |
| first_indexed | 2024-04-13T06:12:46Z |
| format | Article |
| id | doaj.art-7b054cd48ff14bbda39d2121db97f0b4 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-13T06:12:46Z |
| publishDate | 2016-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-7b054cd48ff14bbda39d2121db97f0b42022-12-22T02:58:59ZengMDPI AGSensors1424-82202016-01-0116113910.3390/s16010139s16010139A Novel Pedestrian Navigation Algorithm for a Foot-Mounted Inertial-Sensor-Based SystemMingrong Ren0Kai Pan1Yanhong Liu2Hongyu Guo3Xiaodong Zhang4Pu Wang5School of Electronic Information & Control Engineering, Beijing University of Technology, Beijing 100124, ChinaSchool of Electronic Information & Control Engineering, Beijing University of Technology, Beijing 100124, ChinaSchool of Electronic Information & Control Engineering, Beijing University of Technology, Beijing 100124, ChinaSchool of Electronic Information & Control Engineering, Beijing University of Technology, Beijing 100124, ChinaSchool of Electronic Information & Control Engineering, Beijing University of Technology, Beijing 100124, ChinaSchool of Electronic Information & Control Engineering, Beijing University of Technology, Beijing 100124, ChinaThis paper proposes a novel zero velocity update (ZUPT) method for a foot-mounted pedestrian navigation system (PNS). First, the error model of the PNS is developed and a Kalman filter is built based on the error model. Second, a novel zero velocity detection algorithm based on the variations in speed over a gait cycle is proposed. A finite state machine including three states is employed to model a gait cycle. The state transition conditions are determined based on speed using a sliding window. Third, the ZUPT software flow is illustrated and described. Finally, the performances of the proposed method and other methods are examined and compared experimentally. The experimental results show that the mean relative accuracy of the proposed method is 0.89% under various motion modes.http://www.mdpi.com/1424-8220/16/1/139Kalman filterfoot-mounted PNSZUPT |
| spellingShingle | Mingrong Ren Kai Pan Yanhong Liu Hongyu Guo Xiaodong Zhang Pu Wang A Novel Pedestrian Navigation Algorithm for a Foot-Mounted Inertial-Sensor-Based System Sensors Kalman filter foot-mounted PNS ZUPT |
| title | A Novel Pedestrian Navigation Algorithm for a Foot-Mounted Inertial-Sensor-Based System |
| title_full | A Novel Pedestrian Navigation Algorithm for a Foot-Mounted Inertial-Sensor-Based System |
| title_fullStr | A Novel Pedestrian Navigation Algorithm for a Foot-Mounted Inertial-Sensor-Based System |
| title_full_unstemmed | A Novel Pedestrian Navigation Algorithm for a Foot-Mounted Inertial-Sensor-Based System |
| title_short | A Novel Pedestrian Navigation Algorithm for a Foot-Mounted Inertial-Sensor-Based System |
| title_sort | novel pedestrian navigation algorithm for a foot mounted inertial sensor based system |
| topic | Kalman filter foot-mounted PNS ZUPT |
| url | http://www.mdpi.com/1424-8220/16/1/139 |
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