Cascaded estimation architecture for integration of foot-mounted inertial sensors

被引：0
作者：
Krach, Bernhard [1 ]
Roberston, Patrick [1 ]
机构：
[1] German Aerosp Ctr DLR, Oberpfaffenhofen, Germany
来源：
2008 IEEE/ION POSITION, LOCATION AND NAVIGATION SYMPOSIUM, VOLS 1-3 | 2008年
关键词：
pedestrian navigation; inertial integration; indoor navigation; map-matching;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
An algorithm for integrating foot-mounted inertial sensor platforms is presented. The proposed integration scheme is based on a cascaded estimation architecture. A lower Kalman filter is used to estimate the step-wise change of position and direction of one or optionally both feet respectively. These estimates are used in turn as measurements in an upper particle filter, which is able to incorporate nonlinear map-matching techniques. To ease the integration of both feet a simple mechanical pedestrian model is developed. The proposed algorithm is verified using computer simulations and experimental data.
引用
收藏
页码：699 / 706
页数：8
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