Personal navigation system

Saarinen, Jyrki; Suomela, Jukka; Heikkila, S.; Elomaa, Mikko; Halme, Aarne

doi:10.1109/iros.2004.1389354

Cited by 32 publications

(9 citation statements)

References 3 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Although their outdoor results are good, they could not filter the magnetic disturbances well indoors, which resulted in large errors. A fiducial-based position estimation system was proposed by Saarinen et al [22]. Ultrasonic sensors attached to boots were used to measure the length of every stride in real time.…”

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

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

show abstract

“…One such solution using ultrasonic sensors attached to the user's boots is explained in [8]. Ultrasonic sensors require a direct line of "sight" between the boots, which may be a problem on rough terrain.…”

Section: Introductionmentioning

confidence: 99%

Personal Dead-reckoning System for GPS-denied Environments

Ojeda

Borenstein

2007

2007 IEEE International Workshop on Safety, Security and Rescue Robotics

157

View full text Add to dashboard Cite

Abstract-This paper introduces a positioning system for walking persons, called "Personal Dead-reckoning" (PDR) system. The PDR system does not require GPS, beacons, or landmarks. The system is therefore useful in GPS-denied environments, such as inside buildings, tunnels, or dense forests. Potential users of the system are military and security personnel as well as emergency responders.The PDR system uses a 6-DOF inertial measurement unit (IMU) attached to the user's boot. The IMU provides rate-of-rotation and acceleration measurements that are used in real-time to estimate the location of the user relative to a known starting point. In order to reduce the most significant errors of this IMU-based system--caused by the bias drift of the accelerometers--we implemented a technique known as "Zero Velocity Update" (ZUPT). With the ZUPT technique and related signal processing algorithms, typical errors of our system are about 2% of distance traveled for short walks. This typical PDR system error is largely independent of the gait or speed of the user. When walking continuously for several minutes, the error increases gradually beyond 2%. The PDR system works in both 2-dimensional (2-D) and 3-D environments, although errors in Zdirection are usually larger than 2% of distance traveled.Earlier versions of our system used an impractically large IMU. In the most recent version we implemented a much smaller IMU. This paper discussed specific problems of this small IMU, our measures for eliminating these problems, and our first experimental results with the small IMU under different conditions.

show abstract

“…One such solution using ultrasonic sensors attached to the user's boots is explained in Saarinen et al, 2004. One such solution using ultrasonic sensors attached to the user's boots is explained in Saarinen et al, 2004.…”

mentioning

confidence: 99%

Non-GPS Navigation for Security Personnel and First Responders

2007

View full text Add to dashboard Cite

This paper introduces a “Personal Dead-reckoning” (PDR) navigation system for walking persons. The system is useful for monitoring the position of emergency responders inside buildings, where GPS is unavailable. The PDR system uses a six-axes Inertial Measurement Unit attached to the user's boot. The system's strength lies in the use of a technique known as Zero Velocity Update (ZUPT) that virtually eliminates the ill-effects of drift in the accelerometers. It works very well with different gaits, as well as on stairs, slopes, and generally on 3-dimensional terrain. The paper explains the PDR and presents extensive experimental results, which illustrate the utility and practicality of the system. Parts of this paper were presented at the 2006 International Joint Topical Meeting: “Sharing Solutions for Emergencies and Hazardous Environments,” February 12–15, 2006, Salt Lake City, Utah, USA.

show abstract

Personal navigation system

Cited by 32 publications

References 3 publications

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

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

Personal Dead-reckoning System for GPS-denied Environments

Non-GPS Navigation for Security Personnel and First Responders

Contact Info

Product

Resources

About