Sensors, Vol. 20, Pages 5570: Pedestrian Navigation System with Trinal-IMUs for Drastic Motions

Sensors, Vol. 20, Pages 5570: Pedestrian Navigation System with Trinal-IMUs for Drastic Motions Sensors doi: 10.3390/s20195570 Authors: Yiming Ding Zhi Xiong Wanling Li Zhiguo Cao Zhengchun Wang The combination of biomechanics and inertial pedestrian navigation research provides a very promising approach for pedestrian positioning in environments where Global Positioning System (GPS) signal is unavailable. However, in practical applications such as fire rescue and indoor security, the inertial sensor-based pedestrian navigation system is facing various challenges, especially the step length estimation errors and heading drift in running and sprint. In this paper, a trinal-node, including two thigh-worn inertial measurement units (IMU) and one waist-worn IMU, based simultaneous localization and occupation grid mapping method is proposed. Specifically, the gait detection and segmentation are realized by the zero-crossing detection of the difference of thighs pitch angle. A piecewise function between the step length and the probability distribution of waist horizontal acceleration is established to achieve accurate step length estimation both in regular walking and drastic motions. In addition, the simultaneous localization and mapping method based on occupancy grids, which involves the historic trajectory to improve the pedestrian’s pose estimation is introduced. The experiments show that the proposed trinal-node pedestrian inertial odometer can id...
Source: Sensors - Category: Biotechnology Authors: Tags: Article Source Type: research