Self-contained pedestrian tracking during normal walking using an inertial/magnetic sensor module

This paper proposes a novel self-contained pedestrian tracking method using a foot-mounted inertial and magnetic sensor module, which not only uses the traditional zero velocity updates, but also applies the stride information to further correct the acceleration double integration drifts and thus improves the tracking accuracy. In our method, a velocity control variable is designed in the process model, which is set to the average velocity derived from stride information in the swing (nonzero velocity) phases or zero in the stance (zero-velocity) phases. Stride-based position information is also derived as the pseudomeasurements to further improve the accuracy of the position estimates. An adaptive Kalman filter is then designed to fuse all the sensor information and pseudomeasurements. The proposed pedestrian tracking method has been extensively evaluated using experiments, including both short distance walking with different patterns and long distance walking performed indoors and outdoors, and have been shown to perform effectively for pedestrian tracking.