An improved shoe-mounted inertial navigation system

Castaneda, Nadir; Lamy-Perbal, Sylvie

doi:10.1109/ipin.2010.5646858

Cited by 42 publications

(25 citation statements)

References 9 publications

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“…The wired connection to a laptop limits the use of systems in [109,110] for practical applications. Reported error in navigating a predefined path is very much comparable in all these systems and is less than 1% in the final position tracked by these systems.…”

Section: Navigation and Pedestrian Tracking Systemsmentioning

confidence: 99%

A Comparative Review of Footwear-Based Wearable Systems

2016

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Abstract:Footwear is an integral part of daily life. Embedding sensors and electronics in footwear for various different applications started more than two decades ago. This review article summarizes the developments in the field of footwear-based wearable sensors and systems. The electronics, sensing technologies, data transmission, and data processing methodologies of such wearable systems are all principally dependent on the target application. Hence, the article describes key application scenarios utilizing footwear-based systems with critical discussion on their merits. The reviewed application scenarios include gait monitoring, plantar pressure measurement, posture and activity classification, body weight and energy expenditure estimation, biofeedback, navigation, and fall risk applications. In addition, energy harvesting from the footwear is also considered for review. The article also attempts to shed light on some of the most recent developments in the field along with the future work required to advance the field.

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Section: Navigation and Pedestrian Tracking Systemsmentioning

confidence: 99%

A Comparative Review of Footwear-Based Wearable Systems

2016

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“…The ultrasonic sensor measures the distance between the path and walls. We use PDR algorithm described in [11][12] [13]. We use the gyroscope to estimate the change of moving direction.…”

Section: B Estimation Of the Room Shape And Sizementioning

confidence: 99%

A floor plan creation tool utilizing a smartphone with an ultrasonic sensor gadget

Kashimoto

Arakawa

Yasumoto

2016

2016 13th IEEE Annual Consumer Communications &Amp; Networking Conference (CCNC)

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These days, the proposition that various applications in local indoor navigation have attracted significant attention recently is the provocative one. In order to improve and optimize the indoor navigation applications, we have to obtain the accurate floor plan of target place such as building and home environments. However, the belief that all the buildings provide us with accurate floor plan for indoor navigation is groundless. In this paper, we present a floor plan generator tool utilizing a smartphone integrated with an ultrasonic sensor gadget. In the measurement, the user completes a lap along the walls of all rooms. Then, the system estimates the accurate shape and size of the rooms. It leverages the inertial sensors, implemented in the smartphone, to track the user in the walking path. Moreover, the ultrasonic sensor in the gadget measures the distance between the path and walls. There are two main challenges to achieve optimized performance. The first challenge is that adjacent objects to, such as bookshelves, affect the accuracy in spatial layout estimation. To cope with this problem, we use a mixed Gaussian filter. The second challenge is that the narrow room, such as corridors, leads to the low accuracy. To alleviate this challenge, we implement two ultrasonic sensors in the reverse direction, and measure the distance between walls directly. The results from experimentations report improvement in shape and size estimation accuracy.

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“…The drift of the estimated velocity can be reduced with a foot-mounted IMU using zero velocity update (ZUPT) [10], which enables to reset the velocity to zero when the foot is on the floor. Other methods enable to limit the drift of footmounted INSs [30]. As no calibration is needed and drifts are limited, this kind of method leads to better performances than empirical methods.…”

Section: Inertial Navigation Systems Inss Based On Integratedmentioning

confidence: 99%

“…As already pointed out in Section 2.2, it is better to place the INS on the foot in order to benefit from ZUPT resetting methods [10] or other update methods [30]. Moreover, we do not consider the use of a magnetometer as magnetic disturbances are too important near the floor.…”

Section: Inertial Navigation Systemmentioning

confidence: 99%

Pedestrian Tracking Solution Combining an Impulse Radio Handset Transmitter with an Ankle-Mounted Inertial Measurement Unit

Youssef

Denis

Godin

et al. 2012

International Journal of Navigation and Observation

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We address the indoor tracking problem by combining an Impulse Radio-Ultra-Wideband handset with an ankle-mounted Inertial Measurement Unit embedding an accelerometer and a gyroscope. The latter unit makes possible the detection of the stance phases to overcome velocity drifts. Regarding radiolocation, a time-of-arrival estimator adapted to energy-based receivers is applied to mitigate the effects of dense multipath profiles. A novel quality factor associated with this estimator is also provided as a function of the received signal-to-noise ratio, enabling us to identify outliers corresponding to obstructed radio links and to scale the covariance matrix of radiolocation measurements. Finally, both radio and inertial subsystems are loosely-coupled into one single navigation solution relying on a specific extended Kalman filter. In the proposed fusion strategy, processed inertial data control the filter state prediction whereas Combined Time Differences Of Arrival are formed as input observations. These combinations offer low computational complexity as well as a unique filter structure over time, even after removing outliers. Experimental results obtained in a representatively harsh indoor environment emphasize the complementarity of the two technologies and the relevance of the chosen fusion method while operating with low-cost, noncollocated, asynchronous, and heterogeneous sensors.

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An improved shoe-mounted inertial navigation system

Cited by 42 publications

References 9 publications

A Comparative Review of Footwear-Based Wearable Systems

A Comparative Review of Footwear-Based Wearable Systems

A floor plan creation tool utilizing a smartphone with an ultrasonic sensor gadget

Pedestrian Tracking Solution Combining an Impulse Radio Handset Transmitter with an Ankle-Mounted Inertial Measurement Unit

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