title: Height compensation using ground inclination estimation in inertial sensor-based pedestrian navigation.
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.
authors.affiliation: Department of Electrical Engineering, University of Ulsan, Namgu, Ulsan 680-749, Korea.
authors.forename: Sang Kyeong
authors.initials: SK
authors.lastname: Park
authors.forename: Young Soo
authors.initials: YS
authors.lastname: Suh
mesh_terms: D000054:Acceleration; D000465:Algorithms; D001696:Biomechanical Phenomena; D002138:Calibration; D004867:Equipment Design; D006801:Humans; D015233:Models, Statistical; D018670:Monitoring, Ambulatory / Q000379:methods; D015203:Reproducibility of Results; D012449:Safety; D012984:Software; D016138:Walking