A personal navigation system using mems-based high-density ground reaction sensor array and inertial measurement unit
Type :
Conference paper
Publication Status :
published
Access :
restrictedAccess
Abstract
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.
Source :
2015 Transducers - 2015 18th International Conference on Solid-State Sensors, Actuators and Microsystems (TRANSDUCERS)
Date :
2015
Publisher :
IEEE
URI
http://hdl.handle.net/10679/2848http://ieeexplore.ieee.org/xpl/articleDetails.jsp?reload=true&arnumber=7181113
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