&lt;title&gt;Inertial navigation for the urban warrior&lt;/title&gt;

Elwell, John

doi:10.1117/12.351609

Cited by 31 publications

(17 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…One way to mitigate the drift problem is to take advantage of the fact of zero velocity updates with each footfall between leg swings [22], [79]. The integration of inertial measurement is only performed during the swing of legs and the velocity errors can be reset with each step since the true velocity must be zero if the INS is known to be stationary.…”

Section: ) Accelerometermentioning

confidence: 99%

Design of a Wireless Assisted Pedestrian Dead Reckoning System—The NavMote Experience

Fang

Antsaklis

Montestruque³

et al. 2005

IEEE Trans. Instrum. Meas.

231

144

View full text Add to dashboard Cite

Abstract-In this paper, we combine inertial sensing and sensor network technology to create a pedestrian dead reckoning system. The core of the system is a lightweight sensor-and-wireless-embedded device called NavMote that is carried by a pedestrian. The NavMote gathers information about pedestrian motion from an integrated magnetic compass and accelerometers. When the NavMote comes within range of a sensor network (composed of NetMotes), it downloads the compressed data to the network. The network relays the data via a RelayMote to an information center where the data are processed into an estimate of the pedestrian trajectory based on a dead reckoning algorithm. System details including the NavMote hardware/software, sensor network middleware services, and the dead reckoning algorithm are provided. In particular, simple but effective step detection and step length estimation methods are implemented in order to reduce computation, memory, and communication requirements on the Motes. Static and dynamic calibrations of the compass data are crucial to compensate the heading errors. The dead reckoning performance is further enhanced by wireless telemetry and map matching. Extensive testing results show that satisfactory tracking performance with relatively long operational time is achieved. The paper also serves as a brief survey on pedestrian navigation systems, sensors, and techniques.Index Terms-Dead reckoning, pedestrian navigation system, wireless sensor network.

show abstract

Section: ) Accelerometermentioning

confidence: 99%

Design of a Wireless Assisted Pedestrian Dead Reckoning System—The NavMote Experience

Fang

Antsaklis

Montestruque³

et al. 2005

IEEE Trans. Instrum. Meas.

231

144

View full text Add to dashboard Cite

show abstract

“…All of these systems require calibration to an individual user because everyone's gait has different acceleration profiles. An inertial navigation system embedded in a soldier's boot heel is described by Elwell [19], but no experimental validation was performed. Stirling et al [20] describe an experiment using a prototype shoe-mounted sensor that measures stride length with accelerometers and direction with magnetometers.…”

Section: Navigation With the Imu And Zupt'ingmentioning

confidence: 99%

Personal Navigation via High-Resolution Gait-Corrected Inertial Measurement Units

Bebek

Suster

Rajgopal

et al. 2010

IEEE Trans. Instrum. Meas.

148

View full text Add to dashboard Cite

Abstract-In this paper, a personal micronavigation system that uses high-resolution gait-corrected inertial measurement units is presented. The goal of this paper is to develop a navigation system that uses secondary inertial variables, such as velocity, to enable long-term precise navigation in the absence of Global Positioning System (GPS) and beacon signals. In this scheme, measured zerovelocity duration from the ground reaction sensors is used to reset the accumulated integration errors from accelerometers and gyroscopes in position calculation. With the described system, an average position error of 4 m is achieved at the end of half-hour walks.Index Terms-Dead reckoning, inertial measurement, Kalman filter (KF), pedestrian navigation system, pressure sensor array.

show abstract

“…Without external aiding measurements, positioning error can sharply increase within seconds. In the field of pedestrian navigation, Zero Velocity Update (ZUPT) (Elwell, 1999;Foxlin, 2005) is a commonly used method for restraining error accumulation of IMU by correcting error drift using the constraint that the instantaneous velocity turns zero when the person stops walking. Based on this principle, most IMUs used in personal navigation are mounted on the foot (Nilsson et al, 2012).…”

Section: Introductionmentioning

confidence: 99%

A Zupt-Based Method for Astronaut Navigation on Planetary Surface and Performance Evaluation under Different Locomotion Patterns

Sun

et al. 2014

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

View full text Add to dashboard Cite

ABSTRACT:In this research, we develop a Zero Velocity Update (ZUPT) based method for astronaut navigation and evaluate its performance under different locomotion patterns. In this ZUPT based dead-reckoning, the position drift of IMU is corrected using the constraint that the instantaneous velocity is zero when static state is automatically detected. A series of field experiments have been performed on terrains of different slopes and hardness in an urban park and a desert under different locomotion patterns, such as walking and hopping. The experimental results show that the positioning accuracy of the developed ZUPT based dead-reckoning is 1.5%-2.3% under different locomotion patterns, demonstrating the potential of ZUPT for astronaut navigation.

show abstract

<title>Inertial navigation for the urban warrior</title>

Cited by 31 publications

References 0 publications

Design of a Wireless Assisted Pedestrian Dead Reckoning System—The NavMote Experience

Design of a Wireless Assisted Pedestrian Dead Reckoning System—The NavMote Experience

Personal Navigation via High-Resolution Gait-Corrected Inertial Measurement Units

A Zupt-Based Method for Astronaut Navigation on Planetary Surface and Performance Evaluation under Different Locomotion Patterns

Contact Info

Product

Resources

About