Zero-velocity detection: A Bayesian approach to adaptive thresholding
A Bayesian zero-velocity detector for foot-mounted inertial navigation systems is presented. The detector extends existing zero-velocity detectors based on the likelihood-ratio test and allows, possibly time-dependent, prior information about the two hypotheses-the sensors being stationary or in mot...
| Main Authors: | , , , , |
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| Format: | Journal article |
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IEEE
2019
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| _version_ | 1797083804861464576 |
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| author | Wahlstrom, J Skog, I Gustafsson, F Markham, A Trigoni, N |
| author_facet | Wahlstrom, J Skog, I Gustafsson, F Markham, A Trigoni, N |
| author_sort | Wahlstrom, J |
| collection | OXFORD |
| description | A Bayesian zero-velocity detector for foot-mounted inertial navigation systems is presented. The detector extends existing zero-velocity detectors based on the likelihood-ratio test and allows, possibly time-dependent, prior information about the two hypotheses-the sensors being stationary or in motion-to be incorporated into the test. It is also possible to incorporate information about the cost of a missed detection or a false alarm. Specifically, we consider a hypothesis prior based on the velocity estimates provided by the navigation system and an exponential model for how the cost of a missed detection increases with the time since the last zero-velocity update. Thereby, we obtain a detection threshold that adapts to the motion characteristics of the user. Thus, the proposed detection framework efficiently solves one of the key challenges in current zero-velocity-aided inertial navigation systems: the tuning of the zero-velocity detection threshold. A performance evaluation on data with normal and fast gait demonstrates that the proposed detection framework outperforms any detector that chooses two separate fixed thresholds for the two gait speeds. |
| first_indexed | 2024-03-07T01:46:38Z |
| format | Journal article |
| id | oxford-uuid:98a26a79-298c-445d-851e-d6d8e350076c |
| institution | University of Oxford |
| last_indexed | 2024-03-07T01:46:38Z |
| publishDate | 2019 |
| publisher | IEEE |
| record_format | dspace |
| spelling | oxford-uuid:98a26a79-298c-445d-851e-d6d8e350076c2022-03-27T00:08:27ZZero-velocity detection: A Bayesian approach to adaptive thresholdingJournal articlehttp://purl.org/coar/resource_type/c_dcae04bcuuid:98a26a79-298c-445d-851e-d6d8e350076cSymplectic Elements at OxfordIEEE2019Wahlstrom, JSkog, IGustafsson, FMarkham, ATrigoni, NA Bayesian zero-velocity detector for foot-mounted inertial navigation systems is presented. The detector extends existing zero-velocity detectors based on the likelihood-ratio test and allows, possibly time-dependent, prior information about the two hypotheses-the sensors being stationary or in motion-to be incorporated into the test. It is also possible to incorporate information about the cost of a missed detection or a false alarm. Specifically, we consider a hypothesis prior based on the velocity estimates provided by the navigation system and an exponential model for how the cost of a missed detection increases with the time since the last zero-velocity update. Thereby, we obtain a detection threshold that adapts to the motion characteristics of the user. Thus, the proposed detection framework efficiently solves one of the key challenges in current zero-velocity-aided inertial navigation systems: the tuning of the zero-velocity detection threshold. A performance evaluation on data with normal and fast gait demonstrates that the proposed detection framework outperforms any detector that chooses two separate fixed thresholds for the two gait speeds. |
| spellingShingle | Wahlstrom, J Skog, I Gustafsson, F Markham, A Trigoni, N Zero-velocity detection: A Bayesian approach to adaptive thresholding |
| title | Zero-velocity detection: A Bayesian approach to adaptive thresholding |
| title_full | Zero-velocity detection: A Bayesian approach to adaptive thresholding |
| title_fullStr | Zero-velocity detection: A Bayesian approach to adaptive thresholding |
| title_full_unstemmed | Zero-velocity detection: A Bayesian approach to adaptive thresholding |
| title_short | Zero-velocity detection: A Bayesian approach to adaptive thresholding |
| title_sort | zero velocity detection a bayesian approach to adaptive thresholding |
| work_keys_str_mv | AT wahlstromj zerovelocitydetectionabayesianapproachtoadaptivethresholding AT skogi zerovelocitydetectionabayesianapproachtoadaptivethresholding AT gustafssonf zerovelocitydetectionabayesianapproachtoadaptivethresholding AT markhama zerovelocitydetectionabayesianapproachtoadaptivethresholding AT trigonin zerovelocitydetectionabayesianapproachtoadaptivethresholding |