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Position Tracking During Human Walking Using an Integrated Wearable Sensing System.

Giulio Zizzo1, Lei Ren2

  • 1School of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester M13 9PL, UK. giulio.zizzo@manchester.ac.uk.

Sensors (Basel, Switzerland)
|December 14, 2017
PubMed
Summary
This summary is machine-generated.

This study explores low-cost inertial measurement units (IMUs) for tracking. Combining IMUs with ultrasound sensors and a particle filter significantly reduces accumulated error in wearable sensing systems.

Keywords:
IMU navigationKalman filterpedestrian dead reckoningwearable sensors

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Area of Science:

  • Wearable sensing systems
  • Inertial measurement units (IMUs)
  • Sensor fusion for motion tracking

Background:

  • High-cost inertial measurement units (IMUs) limit widespread adoption for tracking.
  • Investigating low-cost IMUs is crucial for accessible motion tracking solutions.

Purpose of the Study:

  • To develop and validate a wearable low-cost sensing system using IMUs and ultrasound sensors.
  • To improve tracking accuracy by fusing IMU data with ultrasound range measurements and employing a particle filter.

Main Methods:

  • Development of a wearable system integrating low-cost IMUs and ultrasound sensors.
  • Implementation of an extended Kalman filter (EKF) for zero-velocity updates (ZUPTs) and Heuristic Drift Reduction (HDR).
  • Utilization of a particle filter for motion constraint when an environmental map is available, validated against a Vicon motion capture system.

Main Results:

  • Standalone IMU tracking exhibited 1% loop misclosure and up to 4-5% maximum error during walking.
  • Integrating ultrasound sensors reduced total accumulated error by 15%.
  • The particle filter effectively kept tracking error below 2% after initial steps.

Conclusions:

  • Low-cost IMUs, when augmented with ultrasound sensors and particle filtering, offer a viable and accurate solution for wearable tracking.
  • Sensor fusion significantly enhances the precision of IMU-based motion tracking systems.
  • The developed system demonstrates potential for widespread application in areas requiring affordable and accurate motion tracking.