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. 2011;11(8):8045-59.
doi: 10.3390/s110808045. Epub 2011 Aug 15.

Height compensation using ground inclination estimation in inertial sensor-based pedestrian navigation

Sang Kyeong Park  1 , Young Soo Suh
Affiliations

Height compensation using ground inclination estimation in inertial sensor-based pedestrian navigation

Sang Kyeong Park et al. Sensors (Basel). 2011.

Abstract

In an inertial sensor-based pedestrian navigation system, the position is estimated by double integrating external acceleration. A new algorithm is proposed to reduce z axis position (height) error. When a foot is on the ground, a foot angle is estimated using accelerometer output. Using a foot angle, the inclination angle of a road is estimated. Using this road inclination angle, height difference of one walking step is estimated and this estimation is used to reduce height error. Through walking experiments on roads with different inclination angles, the usefulness of the proposed algorithm is verified.

Keywords: Kalman filter; angle measurement; inertial sensors; pedestrian navigation.

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Figures

Figure 1.
Figure 1.
Initial angle θinit when a foot is on a flat ground.
Figure 2.
Figure 2.
Roll angle θ of the sensor unit when a foot is on a slope.
Figure 3.
Figure 3.
Foot movement between two zero velocity intervals.
Figure 4.
Figure 4.
Accelerometer outputs and zero velocity interval.
Figure 5.
Figure 5.
Four roads (A,B,C,D) with different inclination angles.
Figure 6.
Figure 6.
Inclination angle measurement with a digital inclinometer (each measurement is taken from different points along the roads).
Figure 7.
Figure 7.
θ̂ground estimation for each road (the estimated value at the end of a zero velocity interval).
Figure 8.
Figure 8.
z axis position estimation for road A without (left) and with (right) the proposed height compensation.
Figure 9.
Figure 9.
z axis position estimation for road C without (left) and with (right) the proposed height compensation (up-walking).
Figure 10.
Figure 10.
z axis position estimation for road C without (left) and with (right) the proposed height compensation (down-walking).
Figure 11.
Figure 11.
Height compensation experiment while walking up and down the slope diagonally.
See this image and copyright information in PMC

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