Abstract:In this article, we present a novel tight coupling inertial localization system which simultaneously processes the measurements of two inertial measurement units (IMUs) mounted on the leg, namely the upper thigh and the front part of the foot. Moreover, the proposed system exploits motion constraints of each leg link; that is, the thigh and the foot. To derive these constraints, we carry out a motion tracking experiment to collect both ground truth data and inertial measurements from IMUs mounted on the leg. T… Show more
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