title: A Novel Pedestrian Navigation Algorithm for a Foot-Mounted Inertial-Sensor-Based System.
abstract: This paper proposes a novel zero velocity update (ZUPT) method for a foot-mounted pedestrian navigation system (PNS). First, the error model of the PNS is developed and a Kalman filter is built based on the error model. Second, a novel zero velocity detection algorithm based on the variations in speed over a gait cycle is proposed. A finite state machine including three states is employed to model a gait cycle. The state transition conditions are determined based on speed using a sliding window. Third, the ZUPT software flow is illustrated and described. Finally, the performances of the proposed method and other methods are examined and compared experimentally. The experimental results show that the mean relative accuracy of the proposed method is 0.89% under various motion modes.
authors.affiliation: School of Electronic Information &amp; Control Engineering, Beijing University of Technology, Beijing 100124, China. bjut_renmingrong@sohu.com.|Engineering Research Center of Digital Community, Ministry of Education, Beijing 100124, China. bjut_renmingrong@sohu.com.
authors.forename: Mingrong
authors.initials: M
authors.lastname: Ren
authors.affiliation: School of Electronic Information &amp; Control Engineering, Beijing University of Technology, Beijing 100124, China. KaiPan_com@163.com.|Beijing Key Laboratory of Computational Intelligence and Intelligent Systems, Beijing 100124, China. KaiPan_com@163.com.
authors.forename: Kai
authors.initials: K
authors.lastname: Pan
authors.affiliation: School of Electronic Information &amp; Control Engineering, Beijing University of Technology, Beijing 100124, China. liu1253891321@163.com.
authors.forename: Yanhong
authors.initials: Y
authors.lastname: Liu
authors.affiliation: School of Electronic Information &amp; Control Engineering, Beijing University of Technology, Beijing 100124, China. 18810353933@163.com.
authors.forename: Hongyu
authors.initials: H
authors.lastname: Guo
authors.affiliation: School of Electronic Information &amp; Control Engineering, Beijing University of Technology, Beijing 100124, China. 18811576642@163.com.
authors.forename: Xiaodong
authors.initials: X
authors.lastname: Zhang
authors.affiliation: School of Electronic Information &amp; Control Engineering, Beijing University of Technology, Beijing 100124, China. wangpu@bjut.edu.cn.|Beijing Laboratory for Urban Mass Transit, Beijing 100124, China. wangpu@bjut.edu.cn.
authors.forename: Pu
authors.initials: P
authors.lastname: Wang
mesh_terms: D061725:Accelerometry / Q000295:instrumentation; D000328:Adult; D000465:Algorithms; D005260:Female; D005528:Foot / Q000502:physiology*; D005684:Gait / Q000502:physiology; D006801:Humans; D008297:Male; D018670:Monitoring, Ambulatory / Q000295:instrumentation* / Q000379:methods*; D000069636:Pedestrians; D065854:Spatial Navigation / Q000502:physiology*; D016138:Walking / Q000502:physiology
keywords: Kalman filter; ZUPT; foot-mounted PNS