2019
DOI: 10.1016/j.heliyon.2019.e01896
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Inertial navigation algorithm for trajectory of front-wheel walker estimation

Abstract: In this paper, we propose a system for trajectory of walker estimation. The system consists of an inertial measurement unit (IMU) and two encoders attached to a front-wheel walker. The IMU is employed to estimate the trajectory of the walker while the encoders are used to update the trajectory of the walker during rolling on the floor. Three update equations are proposed: quaternion update using the vertical vector, quaternion update using the yaw angle of the walker and position update using encoders. We impl… Show more

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Cited by 4 publications
(11 citation statements)
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References 25 publications
(29 reference statements)
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“…In comparison with other research studies, the results of [ 10 ] and [ 19 ] were used, in which the translation vector is manually and carefully measured. Because there is no rolling movement for the standard walker, the results of the lifting case in [ 10 ] and [ 19 ] were used in the comparison. In the lifting case, the accuracy of distance was estimated at approximately 98.3% in [ 10 ], 98.5% in [ 19 ], and 97% in this study.…”
Section: Discussionmentioning
confidence: 99%
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“…In comparison with other research studies, the results of [ 10 ] and [ 19 ] were used, in which the translation vector is manually and carefully measured. Because there is no rolling movement for the standard walker, the results of the lifting case in [ 10 ] and [ 19 ] were used in the comparison. In the lifting case, the accuracy of distance was estimated at approximately 98.3% in [ 10 ], 98.5% in [ 19 ], and 97% in this study.…”
Section: Discussionmentioning
confidence: 99%
“…At the beginning of the period, the -axis and -axis of the BCS are on the horizontal floor, while the -axis points upward, as shown in Figure 2 . Unlike the procedures followed in [ 10 ] and [ 19 ], the origin is set at the midpoint of segment , as illustrated in Figure 1 , because the distance from the origin to the heels of a user is nearest after a moving step. The -axis of the WCS points upward, while the -axis is in the vertical plane with the -axis.…”
Section: Methodsmentioning
confidence: 99%
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