TY - GEN
T1 - A Pedestrian Navigation Method Based on Dual MIMU for Complex Gait Patterns
AU - Huang, Wumiao
AU - Han, Yongqiang
AU - Zhang, Xingang
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - A pedestrian navigation method based on dual MIMU for complex gait patterns is proposed, to address the problem that the heading of pedestrian navigation system based on foot mounted MIMU drifts over time in satellite denied environments. A constraint model for dual foot, as well as a gait recognition method based on the characteristics of inertial measurement data are designed. The constraint threshold of the distance between two feet is adaptively adjusted according to the gait recognition result. The pedestrian position correction is completed by combining zero velocity update (ZUPT) and inequality constrained Kalman filtering algorithm. The experiments show that in a mixed motion pattern that includes six gaits, the positioning error of the pedestrian navigation system based on dual MIMU using adaptive threshold constraint is 0.5%D, which is reduced by 11.03% and 2.53% compared to unconstrained and fixed threshold constraint methods, respectively.
AB - A pedestrian navigation method based on dual MIMU for complex gait patterns is proposed, to address the problem that the heading of pedestrian navigation system based on foot mounted MIMU drifts over time in satellite denied environments. A constraint model for dual foot, as well as a gait recognition method based on the characteristics of inertial measurement data are designed. The constraint threshold of the distance between two feet is adaptively adjusted according to the gait recognition result. The pedestrian position correction is completed by combining zero velocity update (ZUPT) and inequality constrained Kalman filtering algorithm. The experiments show that in a mixed motion pattern that includes six gaits, the positioning error of the pedestrian navigation system based on dual MIMU using adaptive threshold constraint is 0.5%D, which is reduced by 11.03% and 2.53% compared to unconstrained and fixed threshold constraint methods, respectively.
KW - MIMU
KW - ZUPT
KW - gait recognition
KW - inequality constraint
KW - pedestrian navigation
UR - http://www.scopus.com/inward/record.url?scp=85189289847&partnerID=8YFLogxK
U2 - 10.1109/CAC59555.2023.10450971
DO - 10.1109/CAC59555.2023.10450971
M3 - Conference contribution
AN - SCOPUS:85189289847
T3 - Proceedings - 2023 China Automation Congress, CAC 2023
SP - 2567
EP - 2572
BT - Proceedings - 2023 China Automation Congress, CAC 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 China Automation Congress, CAC 2023
Y2 - 17 November 2023 through 19 November 2023
ER -