An improved pedestrian inertial navigation system for indoor environments

@article{LamyPerbal2011AnIP,
  title={An improved pedestrian inertial navigation system for indoor environments},
  author={Sylvie Lamy-Perbal and Mehdi Boukallel and Nadir Casta{\~n}eda},
  journal={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2011},
  pages={2505-2510}
}
This paper proposes an improved shoe-mounted inertial navigation system for pedestrian tracking with submeter accuracy. The improvements consist of a fuzzy logic (FL) procedure for foot stance phase detection and an indirect Kalman filter (IKF) for drift correction based on the typical zero-updating (ZUPT) measurement and our proposed angular updating (AUPT) pseudo-measurement. We illustrate our findings using a real time implementation of the proposed approach. Experiments were conducted in an… CONTINUE READING