Guo, Q.Deng, W.Bebek, ÖzkanÇavusoglu, C.Mastrangelo, C.Young, D.2018-09-252018-09-252018978-1-5090-4940-00193-6530http://hdl.handle.net/10679/5969https://doi.org/10.1109/ISSCC.2018.8310243An accurate personal inertial navigation system under GPS-denied environment is highly critical for demanding applications such as firefighting, rescue missions, and military operations. Location-aware computation for large-area mixed reality also calls for accurate personal position tracking. Position calculation can be accomplished by using an inertial measurement unit (IMU) composed of a 3-axis accelerometer, 3-axis gyroscope, and 3-axis magnetometer. A gyroscope and magnetometer together can provide the orientation information, while the displacement can be obtained by integrating the acceleration data over time. A MEMS-based IMU is attractive for its small size, low power and low cost. However, such devices exhibit a limited accuracy, large offset, and time drift, which can result in an excessive position error over time. To achieve high-performance navigation, it is critical to accurately reset the IMU time-integration during each step when the foot contacts the ground. Furthermore, correcting the IMU inherent inaccuracy, bias, and time drift becomes important for improving system performance.engrestrictedAccessconferenceObject6118018200045920560007010.1109/ISSCC.2018.8310243Sensor arraysInertial navigationMicromechanical devicesElectrodes2-s2.0-85046455055