title: Fusion of Inertial/Magnetic Sensor Measurements and Map Information for Pedestrian Tracking.
abstract: The wearable inertial/magnetic sensor based human motion analysis plays an important role in many biomedical applications, such as physical therapy, gait analysis and rehabilitation. One of the main challenges for the lower body bio-motion analysis is how to reliably provide position estimations of human subject during walking. In this paper, we propose a particle filter based human position estimation method using a foot-mounted inertial and magnetic sensor module, which not only uses the traditional zero velocity update (ZUPT), but also applies map information to further correct the acceleration double integration drift and thus improve estimation accuracy. In the proposed method, a simple stance phase detector is designed to identify the stance phase of a gait cycle based on gyroscope measurements. For the non-stance phase during a gait cycle, an acceleration control variable derived from ZUPT information is introduced in the process model, while vector map information is taken as binary pseudo-measurements to further enhance position estimation accuracy and reduce uncertainty of walking trajectories. A particle filter is then designed to fuse ZUPT information and binary pseudo-measurements together. The proposed human position estimation method has been evaluated with closed-loop walking experiments in indoor and outdoor environments. Results of comparison study have illustrated the effectiveness of the proposed method for application scenarios with useful map information.
authors.affiliation: School of Electronic and Information Engineering, Ningbo University of Technology, Ningbo 315200, China. shudi.bao@nbut.edu.cn.
authors.forename: Shu-Di
authors.initials: SD
authors.lastname: Bao
authors.affiliation: Institute for Infocomm Research, Singapore 138632, Singapore. xlmeng@i2r.a-star.edu.sg.
authors.forename: Xiao-Li
authors.initials: XL
authors.lastname: Meng
authors.affiliation: School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China. wdxiao@ustb.edu.cn.
authors.forename: Wendong
authors.initials: W
authors.lastname: Xiao
authors.affiliation: School of Electronic and Electrical Engineering, School of Mechanical Engineering, University of Leeds, Leeds LS2 9JT, UK. z.zhang3@leeds.ac.uk.
authors.forename: Zhi-Qiang
authors.initials: ZQ
authors.lastname: Zhang
keywords: bio-motion analysis; gait analysis; map information; particle filter; rehabilitation; sensor fusion; zero velocity update