Research on multiple gait and 3D indoor positioning system

Rongxin Wang, Lingxiang Zheng, Dihong Wu, Ao Peng, Biyu Tang, Hai Lu, Haibin Shi, Huiru Zheng

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    1 Citation (Scopus)

    Abstract

    High accuracy in indoor navigation with foot-mounted sensors attracts a lot of researchers in the last decades. Most indoor positioning schemes based on strap-down inertial navigation can only be used for normal walking. This paper present a 3D foot-mounted inertial navigation system, which can meet the challenge of the multi-gaits. During walking, the foot will have a contact with the ground in every step, in which time, the velocity of foot is zero. The correctness of zero velocity detection is important for drift removing in pedestrian dead-reckoning based inertial pedestrian indoor position systems. Previous algorithm of zero velocity detection is hard to handle the gaits variety. In this paper, by analyzing the inertial data from different modes of motion, a heuristic zero-velocity detection algorithm is designed. The algorithm can accurately detect the zero-velocity time of pedestrians among a variety of gaits. Then the speed and the displacement are updated in the Kalman Filter. Moreover, the barometer is fused with accelerometer for the calculation of height and achievement the 3D trajectory tracking. The experimental results show that the average distance error is 2.59%, the average distance error is 5.78% during running and the average height error is about 0.2m when the pedestrian is going stairs.

    LanguageEnglish
    Title of host publication2017 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2017
    Pages1-7
    Number of pages7
    Volume2017-January
    ISBN (Electronic)9781509062980
    DOIs
    Publication statusPublished - 20 Nov 2017
    Event2017 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2017 - Sapporo, Japan
    Duration: 18 Sep 201721 Sep 2017

    Conference

    Conference2017 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2017
    CountryJapan
    CitySapporo
    Period18/09/1721/09/17

    Fingerprint

    gait
    Gait
    positioning
    Positioning
    Zero
    Average Distance
    inertial navigation
    walking
    Navigation
    Barometer
    Barometers
    Inertial Navigation
    Dead Reckoning
    Inertial Navigation System
    dead reckoning
    Stairs
    Inertial navigation systems
    barometers
    Trajectory Tracking
    straps

    Keywords

    • Extended Kalman filter
    • Foot-mounted
    • Multiple Gait
    • ZUPT

    Cite this

    Wang, R., Zheng, L., Wu, D., Peng, A., Tang, B., Lu, H., ... Zheng, H. (2017). Research on multiple gait and 3D indoor positioning system. In 2017 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2017 (Vol. 2017-January, pp. 1-7) https://doi.org/10.1109/IPIN.2017.8115917
    Wang, Rongxin ; Zheng, Lingxiang ; Wu, Dihong ; Peng, Ao ; Tang, Biyu ; Lu, Hai ; Shi, Haibin ; Zheng, Huiru. / Research on multiple gait and 3D indoor positioning system. 2017 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2017. Vol. 2017-January 2017. pp. 1-7
    @inproceedings{dd1edd97c95e4a5fb59dfae6aee80c2a,
    title = "Research on multiple gait and 3D indoor positioning system",
    abstract = "High accuracy in indoor navigation with foot-mounted sensors attracts a lot of researchers in the last decades. Most indoor positioning schemes based on strap-down inertial navigation can only be used for normal walking. This paper present a 3D foot-mounted inertial navigation system, which can meet the challenge of the multi-gaits. During walking, the foot will have a contact with the ground in every step, in which time, the velocity of foot is zero. The correctness of zero velocity detection is important for drift removing in pedestrian dead-reckoning based inertial pedestrian indoor position systems. Previous algorithm of zero velocity detection is hard to handle the gaits variety. In this paper, by analyzing the inertial data from different modes of motion, a heuristic zero-velocity detection algorithm is designed. The algorithm can accurately detect the zero-velocity time of pedestrians among a variety of gaits. Then the speed and the displacement are updated in the Kalman Filter. Moreover, the barometer is fused with accelerometer for the calculation of height and achievement the 3D trajectory tracking. The experimental results show that the average distance error is 2.59{\%}, the average distance error is 5.78{\%} during running and the average height error is about 0.2m when the pedestrian is going stairs.",
    keywords = "Extended Kalman filter, Foot-mounted, Multiple Gait, ZUPT",
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    year = "2017",
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    Wang, R, Zheng, L, Wu, D, Peng, A, Tang, B, Lu, H, Shi, H & Zheng, H 2017, Research on multiple gait and 3D indoor positioning system. in 2017 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2017. vol. 2017-January, pp. 1-7, 2017 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2017, Sapporo, Japan, 18/09/17. https://doi.org/10.1109/IPIN.2017.8115917

    Research on multiple gait and 3D indoor positioning system. / Wang, Rongxin; Zheng, Lingxiang; Wu, Dihong; Peng, Ao; Tang, Biyu; Lu, Hai; Shi, Haibin; Zheng, Huiru.

    2017 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2017. Vol. 2017-January 2017. p. 1-7.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

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    AU - Shi, Haibin

    AU - Zheng, Huiru

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    AB - High accuracy in indoor navigation with foot-mounted sensors attracts a lot of researchers in the last decades. Most indoor positioning schemes based on strap-down inertial navigation can only be used for normal walking. This paper present a 3D foot-mounted inertial navigation system, which can meet the challenge of the multi-gaits. During walking, the foot will have a contact with the ground in every step, in which time, the velocity of foot is zero. The correctness of zero velocity detection is important for drift removing in pedestrian dead-reckoning based inertial pedestrian indoor position systems. Previous algorithm of zero velocity detection is hard to handle the gaits variety. In this paper, by analyzing the inertial data from different modes of motion, a heuristic zero-velocity detection algorithm is designed. The algorithm can accurately detect the zero-velocity time of pedestrians among a variety of gaits. Then the speed and the displacement are updated in the Kalman Filter. Moreover, the barometer is fused with accelerometer for the calculation of height and achievement the 3D trajectory tracking. The experimental results show that the average distance error is 2.59%, the average distance error is 5.78% during running and the average height error is about 0.2m when the pedestrian is going stairs.

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    BT - 2017 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2017

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    Wang R, Zheng L, Wu D, Peng A, Tang B, Lu H et al. Research on multiple gait and 3D indoor positioning system. In 2017 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2017. Vol. 2017-January. 2017. p. 1-7 https://doi.org/10.1109/IPIN.2017.8115917