Abstract
High accuracy in indoor navigation with shoe-mounted inertial sensors attracts a lot of researches in the last decades. In this paper, we build an indoor navigation system using a kind of estimation architecture with shoe-mounted inertial sensors. The architecture consists of zero velocity update (ZUPT) and extended Kalman filter (EKF). The ZUPT during the rest phase of a pedestrian’s foot can be used together with an EKF. The real time EKF runs to estimate the drift error and non-linear error growth of accelerometers and gyroscopes. The algorithm is inspected and verified on an experiment board. It presents a good performance. The position error of our algorithm is below 1% of the actual total traveled distance. It is feasible to obtain a long-term stability and high accuracy in an indoor navigation scenario.
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Zheng, X. et al. (2014). Indoor Pedestrian Navigation with Shoe-Mounted Inertial Sensors. In: Park, J., Chen, SC., Gil, JM., Yen, N. (eds) Multimedia and Ubiquitous Engineering. Lecture Notes in Electrical Engineering, vol 308. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-54900-7_10
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DOI: https://doi.org/10.1007/978-3-642-54900-7_10
Publisher Name: Springer, Berlin, Heidelberg
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