Guo, Q.Bebek, ÖzkanÇavuşoğlu, M. C.Mastrangelo, C. H.Young, D. J.2016-02-172016-02-1720152159-547Xhttp://hdl.handle.net/10679/2848https://doi.org/10.1109/TRANSDUCERS.2015.7181113Due to copyright restrictions, the access to the full text of this article is only available via subscription.This paper describes a prototype personal navigation system developed for position tracking under GPS denied environments by employing a commercial inertial measurement unit (IMU) and a MEMS-based ground reaction sensor array (GRSA). The GRSA is used to provide zero-velocity updating for the IMU. A Kalman filter further estimates the IMU output bias during the zero-velocity period, which is then removed from the IMU's subsequent output signals to improve the navigation accuracy. Seven 10-minute square-loop walking tests were performed to achieve an in-plane navigation accuracy ranging from 0.4 meter to 3.4 meter with a vertical position accuracy of approximately 1 meter. A further improved performance over an extended navigation time is expected through enhancing the GRSA sensitivity.engrestrictedAccessconferenceObject1077108000038046140026710.1109/TRANSDUCERS.2015.7181113Personal navigationPedestrian navigationInertial navigationDead reckoningIMU biasZUPTingGround reaction sensor arrayPressure sensor arrayTactile sensor arrayKalman filterCapacitance-to-voltage converter2-s2.0-84955514379