title: Pedestrian navigation based on a waist-worn inertial sensor.
abstract: We present a waist-worn personal navigation system based on inertial measurement units. The device makes use of the human bipedal pattern to reduce position errors. We describe improved algorithms, based on detailed description of the heel strike biomechanics and its translation to accelerations of the body waist to estimate the periods of zero velocity, the step length, and the heading estimation. The experimental results show that we are able to support pedestrian navigation with the high-resolution positioning required for most applications.
authors.affiliation: Multisensor Systems & Robotics Lab (SiMuR), Department of Electrical and Computer Engineering, University of Oviedo, Campus de Gijón, Edificio n°2, Gijón 33204, Spain. juan@uniovi.es
authors.forename: Juan Carlos
authors.initials: JC
authors.lastname: Alvarez
authors.forename: Diego
authors.initials: D
authors.lastname: Alvarez
authors.forename: Antonio
authors.initials: A
authors.lastname: López
authors.forename: Rafael C
authors.initials: RC
authors.lastname: González
mesh_terms: D061725:Accelerometry / Q000295:instrumentation; D000328:Adult; D000465:Algorithms; D001696:Biomechanical Phenomena / Q000502:physiology; D005684:Gait / Q000502:physiology; D040362:Geographic Information Systems / Q000295:instrumentation*; D006801:Humans; D008875:Middle Aged; D018670:Monitoring, Ambulatory / Q000295:instrumentation*; D012815:Signal Processing, Computer-Assisted; D016138:Walking / Q000502:physiology*
keywords: ambulatory monitoring; human motion; inertial navigation; localization; location based services; pedestrian dead-reckoning