NDLI: A robust pedestrian navigation algorithm with low cost IMU

Content Provider	IEEE Xplore Digital Library
Author	Yan Li Wang, J.J.
Copyright Year	2012
Description	Author affiliation: Faculty of Engineering and Information Technology, University of Technology, Sydney (UTS), PO Box 123 Broadway, Ultimo, NSW 2007, Australia (Yan Li; Wang, J.J.)
Abstract	Zero velocity update (ZUPT) is an effective way for pedestrian navigation in a GPS (Global Positioning System) denied environment. The stance phase in each step provides zero velocity measurement for IMU (Inertial Measurement Unit) drift correction. Most previous research, however, gives navigation solutions only for pedestrian walking but not running. Compared with walking, running has a shorter stance phase with qualified as zero velocity. Therefore a stance phase detector for walking may not be capable for running. This paper presents a novel ZUPT algorithm which can achieve robust pedestrian navigation for walking, stair climbing, and running. Our stance phase detector consists of one footstep detector and two zero velocity detectors (ZVDs).The footstep detector is used to mark each new step, and the first ZVD (ZVD1) can successfully detect zero velocity while walking by setting thresholds on both gyroscope and accelerometer measurements. While ZVD1 is failed for running, the second ZVD (ZVD2) is introduced with a relative larger threshold on gyroscope measurement only. The proposed stance phase detector was tested for walking, running and stair climbing. In all cases, most of the footsteps are detected correctly and our ZUPT algorithm can be successfully implemented. Experimental results show that the navigation accuracy of the proposed algorithm for running cases is comparable to that of walking only cases. Tests on a biped robot are being also conducted to verify the effectiveness of the algorithm.
Starting Page	1
Ending Page	7
File Size	999300
Page Count	7
File Format	PDF
ISBN	9781467319553
e-ISBN	9781467319546
DOI	10.1109/IPIN.2012.6418861
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-11-13
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Accelerometers IMU Dead reckoning Navigation Pedestrian navigation ZUPT Detectors Gyroscopes Trajectory
Content Type	Text
Resource Type	Article

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