Self-contained pedestrian tracking during normal walking using an inertial/magnetic sensor module

Xiaoli Meng, Zhi-Qiang Zhang, Jian-Kang Wu, Wai-Choong Wong, Haoyong Yu
IEEE Transactions on Bio-medical Engineering 2014, 61 (3): 892-9
This paper proposes a novel self-contained pedestrian tracking method using a foot-mounted inertial and magnetic sensor module, which not only uses the traditional zero velocity updates, but also applies the stride information to further correct the acceleration double integration drifts and thus improves the tracking accuracy. In our method, a velocity control variable is designed in the process model, which is set to the average velocity derived from stride information in the swing (nonzero velocity) phases or zero in the stance (zero-velocity) phases. Stride-based position information is also derived as the pseudomeasurements to further improve the accuracy of the position estimates. An adaptive Kalman filter is then designed to fuse all the sensor information and pseudomeasurements. The proposed pedestrian tracking method has been extensively evaluated using experiments, including both short distance walking with different patterns and long distance walking performed indoors and outdoors, and have been shown to perform effectively for pedestrian tracking.

Full Text Links

Find Full Text Links for this Article


You are not logged in. Sign Up or Log In to join the discussion.

Related Papers

Remove bar
Read by QxMD icon Read

Save your favorite articles in one place with a free QxMD account.


Search Tips

Use Boolean operators: AND/OR

diabetic AND foot
diabetes OR diabetic

Exclude a word using the 'minus' sign

Virchow -triad

Use Parentheses

water AND (cup OR glass)

Add an asterisk (*) at end of a word to include word stems

Neuro* will search for Neurology, Neuroscientist, Neurological, and so on

Use quotes to search for an exact phrase

"primary prevention of cancer"
(heart or cardiac or cardio*) AND arrest -"American Heart Association"