NDLI: Altitude accuracy while tracking pedestrians using a boot-mounted IMU

Content Provider	IEEE Xplore Digital Library
Author	Faulkner, W.T. Alwood, R. Taylor, D.W.A. Bohlin, J.
Copyright Year	2010
Description	Author affiliation: ENSCO, Inc., Springfield, VA, USA (Faulkner, W.T.; Alwood, R.; Taylor, D.W.A.; Bohlin, J.)
Abstract	This paper characterizes altitude errors based solely on the integration of a boot-mounted inertial measurement unit (IMU) and co-located digital magnetic compass. The system is self-contained, small, and inexpensive and requires only passive sensors (no infrastructure to set up) mounted to the heel of the operator's boot. During each footstep, there is a natural rest period that is detected and used to perform a zero-velocity update (ZUPT) to significantly constrain the position, velocity, roll and pitch errors through the use of an extended Kalman filter (EKF). This paper describes the fundamental issues that impact accurate altitude estimation based solely on the use of an IMU/compass sensor. Experimental altitude errors are shown for walks based on a simplified IMU error model to show the sensitivity of altitude errors to inadequate dynamic range of the accelerometers and gyros and inadequate detection of ZUPT periods. Experimental altitude errors are shown for multiple users both ascending and descending several floors of a building while walking a common route for 15 minutes, including an acceptance test conducted in June 2008 to track first responders and a test in the stairwell of a seventeen story apartment building. Altitude errors are also shown for an operator climbing a ladder.
Starting Page	90
Ending Page	96
File Size	1855689
Page Count	7
File Format	PDF
ISBN	9781424450367
ISSN	21533598
DOI	10.1109/PLANS.2010.5507240
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-04
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Sensor phenomena and characterization Testing Measurement units Magnetic sensors Sensor systems Error correction Dynamic range Accelerometers Floors Legged locomotion GPS-denied IMU altitude pedestrian
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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