Foot-mounted inertial navigation made easy

@article{Nilsson2014FootmountedIN,
  title={Foot-mounted inertial navigation made easy},
  author={John-Olof Nilsson and Amit Kumar Gupta and Peter H{\"a}ndel},
  journal={2014 International Conference on Indoor Positioning and Indoor Navigation (IPIN)},
  year={2014},
  pages={24-29}
}
Despite being around for almost two decades, foot-mounted inertial navigation only has gotten a limited spread. Contributing factors to this are lack of suitable hardware platforms and difficult system integration. As a solution to this, we present an open-source wireless foot-mounted inertial navigation module with an intuitive and significantly simplified dead reckoning interface. The interface is motivated from statistical properties of the underlying aided inertial navigation and argued to… 

Figures from this paper

Zero‐Velocity Update Aided Pedestrian Inertial Navigation

  • A. ShkelYusheng Wang
  • Computer Science
    Pedestrian Inertial Navigation with Self‐Contained Aiding
  • 2021
This chapter focuses on the self‐contained aiding techniques for pedestrian inertial navigation, which can limit the navigation error propagation of the strapdown inertial navigation while keeping

Data Fusion of Dual Foot-Mounted IMU for Pedestrian Navigation

A novel equality constraint method based on pedestrian footstep mode is proposed to fuse the information of two systems in the absence of any additional ranging equipment and demonstrates that the proposed algorithm improves the performances of both two systems.

A Zero Velocity Detector for Foot-mounted Inertial Navigation Systems Aided by Downward-facing Range Sensor

The experimental results showed that the UA-SHOE detector improved errors by 27.5% and 11.3%, as compared to the USPD detector, and had a comparable accuracy to the commonly used SHoe detector in the walking case and outperformed the SHOE detector by more than 50% in the running experiments.

A single foot-mounted pedestrian navigation algorithm based on the maximum gait displacement constraint in three-dimensional space

Inertial navigation technology composed of inertial sensors is widely used in foot-mounted pedestrian positioning. However, inertial sensors are susceptible to noise, which affects the performance of

Cooperative localization using a foot-mounted inertial navigation system and ultrawideband ranging

The cooperative localization scheme reduces the position errors by up to 70% in a scenario where a three-person smoke diver team performs a search and rescue operation, through the use of scenario-based simulations.

Foot-mounted pedestrian navigation reference with tightly coupled GNSS carrier phases, inertial and magnetic data

The design and algorithms of a foot-mounted reference navigation system titled PERSY (PEdestrian Reference SYstem) are presented and quasi static phases of the acceleration and the magnetic field are used to mitigate inertial sensor errors in indoor spaces.

Cooperative localization using foot-mounted inertial navigation and ultrawideband ranging : a simulation study

Using the proposed cooperative localization scheme it was possible to reduce the position errors by up to 70% in a designed scenario, where a three- person smoke diver team performs a search and rescue operation in two small apartments, where varying sight- and heat conditions sometimes forces the firefighters to search close to the floor by crawling.

Inertial Odometry on Handheld Smartphones

This paper presents a probabilistic approach for orientation and use-case free inertial odometry, which is based on double-integrating rotated accelerations and is able to track the phone position, velocity, and pose in realtime and in a computationally lightweight fashion by solving the inference with an extended Kalman filter.

A Reconstruction Filter for Saturated Accelerometer Signals Due to Insufficient FSR in Foot-Mounted Inertial Navigation System

In pedestrian inertial navigation, one possible placement of Inertial Measurement Units (IMUs) is on a footwear. This placement allows to limit the accumulation of navigation errors due to the bias

Exploring the Importance of Sensors' Calibration in Inertial Navigation Systems

This work highlights the importance of calibration by deriving a bound of the evolution of the attitude and velocity error as a function of the calibration parameters' error and uses the MAG.I.C.AL.
...

References

SHOWING 1-10 OF 34 REFERENCES

Soldier positioning in GNSS-denied operations

Foot-mounted inertial sensors, combined with GPS-receivers, magnetometers and barometric pressure sensors have shown great potential in providing a high-accuracy positioning system for

Foot-mounted INS for everybody - an open-source embedded implementation

An open-source, realtime, embedded implementation of a foot-mounted, zero-velocity-update-aided inertial navigation system that uses off-the-shelf components and assembly methods, and features a standard USB interface.

Cooperative localization by dual foot-mounted inertial sensors and inter-agent ranging

A partially decentralized system architecture based onstep-wise inertial navigation and step-wise dead reckoning is presented to reduce the computational cost and required communication bandwidth by around two orders of magnitude while only giving negligible information loss in comparison with a naive centralized implementation.

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

This report investigates 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), and proposes a novel algorithm based on the idea that the separation between the two feet at any given instance must always lie within a sphere of radius equal to the maximum possible spatial separation.

A low-cost shoe-mounted Inertial Navigation System with magnetic disturbance compensation

The work evaluates the performance of a custom-built shoe-mounted pedestrian indoor localization system based on commercially available low-cost inertial and magnetic sensors, which compares three nonlinear KF techniques based on Unscented KF, Extended KF and Error-state extended KF.

Evaluation of zero-velocity detectors for foot-mounted inertial navigation systems

The results show that for leveled ground forward gait at a speed of 5 km/h, the angular rate energy detector and the SHOE give the highest performance, with a position accuracy of 0.14% of the travelled distance.

Inertial navigation systems analysis

This book offers a guide for avionics system engineers who want to compare the performance of the various types of inertial navigation systems. The author emphasizes systems used on or near the

Pedestrian tracking with shoe-mounted inertial sensors

  • E. Foxlin
  • Computer Science
    IEEE Computer Graphics and Applications
  • 2005
The NavShoe device provides not only robust approximate position, but also an extremely accurate orientation tracker on the foot, which can greatly reduce the database search space for computer vision, making it much simpler and more robust.

neMEMSi: One step forward in wireless attitude and heading reference systems

This work presents neMEMSi, a novel MEMS based inertial and magnetic system-on-board with embedded processing and wireless communication capabilities, providing an ultra low-power and easy to use

Integration of foot-mounted inertial sensors into a Bayesian location estimation framework

  • B. KrachP. Robertson
  • Computer Science
    2008 5th Workshop on Positioning, Navigation and Communication
  • 2008
An algorithm for integrating foot-mounted inertial sensors into a Bayesian location estimation framework is presented and is based on a cascaded estimation architecture.