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Simulation of Human-induced Vibrations Based on the Characterized In-field Pedestrian Behavior
10:52

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Published on: April 13, 2016

Height compensation using ground inclination estimation in inertial sensor-based pedestrian navigation.

Sang Kyeong Park1, Young Soo Suh

  • 1Department of Electrical Engineering, University of Ulsan, Namgu, Ulsan 680-749, Korea.

Sensors (Basel, Switzerland)
|December 14, 2011
PubMed
Summary
This summary is machine-generated.

This study introduces a new algorithm for inertial sensor-based pedestrian navigation systems to reduce height errors. By estimating road inclination using foot angle, the system improves vertical position accuracy during walking.

Keywords:
Kalman filterangle measurementinertial sensorspedestrian navigation

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08:24

Sit-to-stand-and-walk from 120% Knee Height: A Novel Approach to Assess Dynamic Postural Control Independent of Lead-limb

Published on: August 30, 2016

Area of Science:

  • Geomatics Engineering
  • Robotics
  • Sensor Fusion

Background:

  • Inertial sensor-based pedestrian navigation systems estimate position via double integration of acceleration.
  • Z-axis position (height) estimation is prone to significant errors in these systems.

Purpose of the Study:

  • To propose and verify a novel algorithm for reducing height error in inertial sensor-based pedestrian navigation.
  • To enhance the accuracy of vertical position estimation during walking.

Main Methods:

  • An algorithm estimates foot angle using accelerometer data when the foot is on the ground.
  • Road inclination angle is derived from the estimated foot angle.
  • The calculated road inclination corrects height differences per walking step.

Main Results:

  • The proposed algorithm effectively reduces z-axis position error.
  • Experiments on roads with varying inclinations validated the algorithm's usefulness.
  • Improved height accuracy was demonstrated through walking experiments.

Conclusions:

  • The developed algorithm significantly improves height estimation accuracy in pedestrian navigation systems.
  • Road inclination compensation is a viable method for reducing vertical position drift.
  • The findings are applicable to enhancing pedestrian dead reckoning systems.