pedestrian navigation based on a waist-worn inertial sensor行人导航基于waist-worn惯性传感器.pdfVIP

Sensors 2012, 12, 10536-10549; doi:10.3390/s120810536 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Pedestrian Navigation Based on a Waist-Worn Inertial Sensor Juan Carlos Alvarez *, Diego Alvarez, Antonio López and Rafael C. González Multisensor Systems Robotics Lab (SiMuR), Department of Electrical and Computer Engineering, University of Oviedo, Campus de Gijón, Edificio n°2, Gijón 33204, Spain; E-Mails: dalvarez@uniovi.es (D.A.); amlopez@uniovi.es (A.L.); corsino@uniovi.es (R.C.G.) * Author to whom correspondence should be addressed; E-Mail: juan@uniovi.es; Tel.: +34-985-182-529; Fax: +34-985-182-065. Received: 1 July 2012; in revised form: 17 July 2012 / Accepted: 25 July 2012 / Published: 3 August 2012 Abstract: We present a waist-worn personal navigation system based on inertial measurement units. The device makes use of the human bipedal pattern to reduce position errors. We describe improved algorithms, based on detailed description of the heel strike biomechanics and its translation to accelerations of the body waist to estimate the periods of zero velocity, the step length, and the heading estimation. The experimental results show that we are able to support pedestrian navigation with the high-resolution positioning required for most applications. Keywords: pedestrian dead-reckoning; inertial navigation; localization; location based services; ambulatory monitoring; human motion 1. Introduction We present a