Position estimation approach by Complementary Filter-aided IMU for indoor environment

@article{Fourati2013PositionEA,
  title={Position estimation approach by Complementary Filter-aided IMU for indoor environment},
  author={Hassen Fourati and Noureddine Manamanni and Lissan Afilal and Yves Handrich},
  journal={2013 European Control Conference (ECC)},
  year={2013},
  pages={4208-4213}
}
This paper proposes a foot-mounted Zero Velocity Update (ZVU) aided Inertial Measurement Unit (IMU) filtering algorithm for pedestrian tracking in indoor environment. The algorithm outputs are the foot kinematic parameters, which include foot orientation, position, velocity, acceleration, and gait phase. The foot motion filtering algorithm incorporates methods for orientation estimation, gait detection, and position estimation. A novel Complementary Filter (CF) is introduced to better pre… CONTINUE READING