2015
DOI: 10.1109/tmech.2015.2430357
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Stance-Phase Detection for ZUPT-Aided Foot-Mounted Pedestrian Navigation System

Abstract: Zero velocity updates (ZUPT) is an effective way for the foot-mounted inertial pedestrian navigation systems (IPNS). For the ZUPT technique to work properly, it is necessary to correctly detect the stance phase of each gait cycle. An adaptive stance phase detection method is proposed based solely on an inertial sensor, which deals with the measurement fluctuations in swing and stance phases differently, and applies a clustering algorithm to partition the potential gait phases into true and false clusters, ther… Show more

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Cited by 168 publications
(72 citation statements)
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References 27 publications
(44 reference statements)
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“…In real applications, the velocity and position estimation may diverge due to the bias of the accelerometer. In this way, the zero-velocity update (ZUPT) is introduced to overcome such disadvantages [33]. That is to say, when the acceleration is measured to be less than a settled threshold (usually the absolute value of the accelerometer's bias), the acceleration would not be integrated, so as to the position.…”
Section: Velocity and Positionmentioning
confidence: 99%
“…In real applications, the velocity and position estimation may diverge due to the bias of the accelerometer. In this way, the zero-velocity update (ZUPT) is introduced to overcome such disadvantages [33]. That is to say, when the acceleration is measured to be less than a settled threshold (usually the absolute value of the accelerometer's bias), the acceleration would not be integrated, so as to the position.…”
Section: Velocity and Positionmentioning
confidence: 99%
“…The velocity error of carrier is used as a concept [19][20]. When pedestrians stay static, the MIMU measured velocity is regarded as error to correct the system using Kalman filtering.…”
Section: Generalized Likelihood Ratio Test (Glrt)mentioning
confidence: 99%
“…Micro-IMU was mounted on a shoe for detecting human movement. In the experiment Zhelong Wang et al [5], research a focus in stance-phase detection for reducing error position estimate for pedestrian navigation system. ZUPT used to reduce error in velocity estimation Next, Slawomir et al [6]using kalman filter to achieve proper estimates of attitude and position signals that could be further used in unmanned aerial vehicle autopilots.…”
Section: Related Workmentioning
confidence: 99%
“…Small noise on the sensor Inertial Measurement Unit (IMU) will cause the position estimate error increases with time. Fortunately, a foot-mounted INS aided by the zero velocity update (ZUPT) technique can bound the navigation errors [5]. In the experiment, the movement detection method Zero velocity update (ZUPT) be modified by combining Magnitude Acceleration (MA) and Angular Rates (AR) estimate.…”
Section: Introductionmentioning
confidence: 99%