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A Pedestrian Navigation System Based on Low Cost IMU

Published online by Cambridge University Press:  20 June 2014

Yan Li  and
Jianguo Jack Wang
Yan Li
Affiliation:
(University of Technology, Sydney, Australia)
Jianguo Jack Wang*
Affiliation:
(University of Technology, Sydney, Australia)
*
(E-mail: [email protected])
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Abstract

For indoor pedestrian navigation with a shoe-mounted inertial measurement unit (IMU), the zero velocity update (ZUPT) technique is implemented to constrain the sensors' error. ZUPT uses the fact that a stance phase appears in each step at zero velocity to correct IMU errors periodically. This paper introduces three main contributions we have achieved based on ZUPT. Since correct stance phase detection is critical for the success of applying ZUPT, we have developed a new approach to detect the stance phase of different gait styles, including walking, running and stair climbing. As the extension of ZUPT, we have proposed a new concept called constant velocity update (CUPT) to correct IMU errors on a moving platform with constant velocity, such as elevators or escalators where ZUPT is infeasible. A closed-loop step-wise smoothing algorithm has also been developed to eliminate discontinuities in the trajectory caused by sharp corrections. Experimental results demonstrate the effectiveness of the proposed algorithms.

Keywords

Pedestrian NavigationInertial Measurement Unit (IMU)Zero Velocity Update (ZUPT)Constant Velocity Update (CUPT)
Type
Research Article
Information
The Journal of Navigation , Volume 67 , Issue 6 , November 2014 , pp. 929 - 949
Copyright
Copyright © The Royal Institute of Navigation 2014 

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