Pedestrian Navigation Based on a Waist-Worn Inertial Sensor

Abstract

We present a waist-worn personal navigation system based on inertial measurement units. The device makes use of the human bipedal pattern to reduce position errors. We describe improved algorithms, based on detailed description of the heel strike biomechanics and its translation to accelerations of the body waist to estimate the periods of zero velocity, the step length, and the heading estimation. The experimental results show that we are able to support pedestrian navigation with the high-resolution positioning required for most applications.

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Comparative assessment of different methods for the estimation of gait temporal parameters using a single inertial sensor: application to elderly, post-stroke, Parkinson's disease and Huntington's disease subjects

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