Links

Tools

Export citation

Search in Google Scholar

Fusion of Inertial/Magnetic Sensor Measurements and Map Information for Pedestrian Tracking

Journal article published in 2017 by Shu Di Bao, Xiao-Li Meng, Wendong Xiao, Zhi-Qiang Zhang ORCID
This paper is available in a repository.
This paper is available in a repository.

Full text: Download

Question mark in circle
Preprint: policy unknown
Question mark in circle
Postprint: policy unknown
Question mark in circle
Published version: policy unknown

Abstract

The wearable inertial/magnetic sensor based human motion analysis plays an important role in many biomedical applications, such as physical therapy, gait analysis and rehabilitation. One of the main challenges for the lower body bio-motion analysis is how to reliably provide position estimations of human subject during walking. In this paper, we propose a particle filter based human position estimation method using a foot-mounted inertial and magnetic sensor module, which not only uses the traditional zero velocity update (ZUPT), but also applies map information to further correct the acceleration double integration drift and thus improve estimation accuracy. In the proposed method, a simple stance phase detector is designed to identify the stance phase of a gait cycle based on gyroscope measurements. For the non-stance phase during a gait cycle, an acceleration control variable derived from ZUPT information is introduced in the process model, while vector map information is taken as binary pseudo-measurements to further enhance position estimation accuracy and reduce uncertainty of walking trajectories. A particle filter is then designed to fuse ZUPT information and binary pseudo-measurements together. The proposed human position estimation method has been evaluated with closed-loop walking experiments in indoor and outdoor environments. Results of comparison study have illustrated the effectiveness of the proposed method for application scenarios with useful map information.