Detecting Turns And Correcting Headings Using Low-Cost INS

Muhammad, Mohd Nazrin and Salcic, Zoran and Wang, Kevin I-Kai (2018) Detecting Turns And Correcting Headings Using Low-Cost INS. The Journal Of Navigation, 71 (1). pp. 189-207. ISSN 0373-4633

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Abstract

Unlike industrial-grade Inertial Navigation Sensors (INSs) that can provide credible tracking performance, more affordable consumer-grade low-cost INSs produce drifts in heading angles and positions that result in a poor tracking accuracy. Researchers have proposed drift correction methods that attempt to attenuate the drifts when walking straight along the dominant directions is detected. While determining the type of a pedestrian's walk is essential before the heading corrections are made, the current detection techniques heavily rely on thresholding. This paper proposes a novel threshold-less method to detect turns in walking by using pelvic rotation and correct the heading angle based on consumer-grade INSs. The experiments indicate the proposed turn detector and heading correction methods produce very good results which can be applied for future pedestrian tracking, activity recognition or rehabilitation.

Item Type:	Article
Subjects:	T Technology > T Technology (General) T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:	Faculty of Manufacturing Engineering > Department of Robotics and Automation
Depositing User:	Mohd Hannif Jamaludin
Date Deposited:	05 Mar 2020 12:07
Last Modified:	05 Mar 2020 12:07
URI:	http://eprints.utem.edu.my/id/eprint/24009
Statistic Details:	View Download Statistic

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