Data Fusion of Dual Foot-Mounted INS to Reduce the Systematic Heading Drift

@article{Prateek2013DataFO,
  title={Data Fusion of Dual Foot-Mounted INS to Reduce the Systematic Heading Drift},
  author={G. V. Prateek and R. Girisha and K. V. S. Hari and P. Handel},
  journal={2013 4th International Conference on Intelligent Systems, Modelling and Simulation},
  year={2013},
  pages={208-213}
}
In this report, we investigate the problem of applying a range constraint in order to reduce the systematic heading drift in a foot-mounted inertial navigation system (INS) (motion-tracking). We make use of two foot-mounted INS, one on each foot, which are aided with zero-velocity detectors. A novel algorithm is proposed in order to reduce the systematic heading drift. The proposed algorithm is based on the idea that the separation between the two feet at any given instance must always lie… CONTINUE READING
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