Heterogeneous Data Fusion Algorithm for Pedestrian Navigation via Foot-Mounted Inertial Measurement Unit and Complementary Filter Design

Hassen Fourati 1, *
* Auteur correspondant
1 NECS - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA - Département Automatique
Abstract : This paper proposes a foot-mounted Zero Velocity Update (ZVU) aided Inertial Measurement Unit (IMU) filtering algorithm for pedestrian tracking in indoor environment. The algorithm outputs are the foot kinematic parameters, which include foot orientation, position, velocity, acceleration, and gait phase. The foot motion filtering algorithm incorporates methods for orientation estimation, gait detection, and position estimation. A novel Complementary Filter (CF) is introduced to better pre-process the sensor data from a foot-mounted IMU containing tri-axial angular rate sensors, accelerometers, and magnetometers and to estimate the foot orientation without resorting to GPS data. A gait detection is accomplished using a simple states detector that transitions between states based on acceleration and angular rate measurements. Once foot orientation is computed, position estimates are obtained by using integrating acceleration and velocity data, which has been corrected at step stance phase for drift using an implemented ZVU algorithm, leading to a position accuracy improvement.We illustrate our findings experimentally by using of a commercial IMU during regular human walking trials in a typical public building. Experiment results show that the positioning approach achieves approximately a position accuracy around 0.4% and improves the performance regarding recent works of literature.
Type de document :
Article dans une revue
IEEE Transactions on Instrumentation and Measurement, Institute of Electrical and Electronics Engineers, 2015, 64 (1), pp.221-229. 〈10.1109/TIM.2014.2335912〉
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https://hal.inria.fr/hal-00999073
Contributeur : Hassen Fourati <>
Soumis le : mardi 3 juin 2014 - 11:08:38
Dernière modification le : samedi 16 septembre 2017 - 01:04:50

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Hassen Fourati. Heterogeneous Data Fusion Algorithm for Pedestrian Navigation via Foot-Mounted Inertial Measurement Unit and Complementary Filter Design. IEEE Transactions on Instrumentation and Measurement, Institute of Electrical and Electronics Engineers, 2015, 64 (1), pp.221-229. 〈10.1109/TIM.2014.2335912〉. 〈hal-00999073〉

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