Citation

Park SK, Suh YS. Sensors (Basel) 2011; 11(8): 8045-8059.

Affiliation

Department of Electrical Engineering, University of Ulsan, Namgu, Ulsan 680-749, Korea; E-Mail: damiro76@hotmail.com.

Copyright

(Copyright © 2011, MDPI: Multidisciplinary Digital Publishing Institute)

DOI

10.3390/s110808045

PMID

22164061

PMCID

PMC3231741

Abstract

In an inertial sensor-based pedestrian navigation system, the position is estimated by double integrating external acceleration. A new algorithm is proposed to reduce z axis position (height) error. When a foot is on the ground, a foot angle is estimated using accelerometer output. Using a foot angle, the inclination angle of a road is estimated. Using this road inclination angle, height difference of one walking step is estimated and this estimation is used to reduce height error. Through walking experiments on roads with different inclination angles, the usefulness of the proposed algorithm is verified.

Language: en