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

Özkan Bebek; Michael A. Suster; Srihari Rajgopal; Michael J. Fu; Xuemei Huang; M. Cenk Çavu¸so˘glu,; Darrin J. Young; Mehran Mehregany; Antonie J. van den Bogert; Carlos H. Mastrangelo

doi:10.1109/TIM.2010.2046595

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

Özkan Bebek
, Michael A. Suster
, Srihari Rajgopal
, Michael J. Fu
, Xuemei Huang
, M. Cenk Çavu¸so˘glu,
, Darrin J. Young
, Mehran Mehregany
, Antonie J. van den Bogert
, Carlos H. Mastrangelo

Case Western Reserve University
Cleveland Clinic
University of Utah

Research output: Contribution to journal › Article › peer-review

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.

Original language	American English
Journal	IEEE Transactions on Instrumentation and Measurement
Volume	59
DOIs	https://doi.org/10.1109/TIM.2010.2046595
State	Published - Nov 1 2010

Keywords

Dead reckoning
inertial measurement
Kalman filter (KF)
pedestrian navigation system
pressure sensor array

Disciplines

Biomechanical Engineering
Biomechanics and Biotransport

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Personal Navigation via High-Resolution Gait-Corrected Inertial MFinal published version, 2.33 MBLicense: CC BY

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title = "Personal Navigation via High-Resolution Gait-Corrected Inertial Measurement Units",

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.",

keywords = "Dead reckoning, inertial measurement, Kalman filter (KF), pedestrian navigation system, pressure sensor array",

author = "{\"O}zkan Bebek and Suster, \{Michael A.\} and Srihari Rajgopal and Fu, \{Michael J.\} and Xuemei Huang and {\c C}avu¸so˘glu,, \{M. Cenk\} and Young, \{Darrin J.\} and Mehran Mehregany and \{van den Bogert\}, \{Antonie J.\} and Mastrangelo, \{Carlos H.\}",

note = "Bebek, O.; Suster, M. A.; Rajgopal, S.; Fu, M. J.; Xuemei Huang; {\c C}avu{\c s}o{\v g}lu, M. C.; Young, D. J.; Mehregany, M.; van den Bogert, A. J.; Mastrangelo, C. H. Personal Navigation via High-Resolution Gait-Corrected Inertial Measurement Units. Instrumentation and Measurement, IEEE Transactions on 2010, 59, 3018-3027.",

year = "2010",

month = nov,

day = "1",

doi = "10.1109/TIM.2010.2046595",

language = "American English",

volume = "59",

journal = "IEEE Transactions on Instrumentation and Measurement",

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T1 - Personal Navigation via High-Resolution Gait-Corrected Inertial Measurement Units

AU - Bebek, Özkan

AU - Suster, Michael A.

AU - Rajgopal, Srihari

AU - Fu, Michael J.

AU - Huang, Xuemei

AU - Çavu¸so˘glu,, M. Cenk

AU - Young, Darrin J.

AU - Mehregany, Mehran

AU - van den Bogert, Antonie J.

AU - Mastrangelo, Carlos H.

N1 - Bebek, O.; Suster, M. A.; Rajgopal, S.; Fu, M. J.; Xuemei Huang; Çavuşoǧlu, M. C.; Young, D. J.; Mehregany, M.; van den Bogert, A. J.; Mastrangelo, C. H. Personal Navigation via High-Resolution Gait-Corrected Inertial Measurement Units. Instrumentation and Measurement, IEEE Transactions on 2010, 59, 3018-3027.

PY - 2010/11/1

Y1 - 2010/11/1

N2 - 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.

AB - 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.

KW - Dead reckoning

KW - inertial measurement

KW - Kalman filter (KF)

KW - pedestrian navigation system

KW - pressure sensor array

UR - https://engagedscholarship.csuohio.edu/enme_facpub/161

U2 - 10.1109/TIM.2010.2046595

DO - 10.1109/TIM.2010.2046595

M3 - Article

VL - 59

JO - IEEE Transactions on Instrumentation and Measurement

JF - IEEE Transactions on Instrumentation and Measurement

ER -

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

Abstract

Keywords

Disciplines

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