Zero-Velocity Detection-An Algorithm Evaluation
2010 (English)In: IEEE Transactions on Biomedical Engineering, ISSN 0018-9294, E-ISSN 1558-2531, Vol. 57, no 11, 2657-2666 p.Article in journal (Refereed) Published
In this paper, we investigate the problem of detecting-time epochs when zero-velocity updates can be applied in a foot-mounted inertial navigation (motion-tracking) system. We examine three commonly used detectors: the acceleration-moving variance detector, the acceleration-magnitude detector, and the angular rate energy detector. We demonstrate that all detectors can be derived within the same general likelihood ratio test (LRT) framework, given the different prior knowledge about the sensor signals. Further, by combining all prior knowledge, we derive a new LRT detector. Subsequently, we develop a methodology to evaluate the performance of the detectors. Employing the developed methodology, we evaluate the performance of the detectors using leveled ground, slow (approximately 3 km/h) and normal (approximately 5 km/h) gait data. The test results are presented in terms of detection versus false-alarm probability. Our preliminary results show that the new detector performs marginally better than the angular rate energy detector that outperforms both the acceleration-moving variance detector and the acceleration-magnitude detector.
Place, publisher, year, edition, pages
2010. Vol. 57, no 11, 2657-2666 p.
Biomedical signal processing, detection, detection algorithm, inertial navigation, navigation
Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-26238DOI: 10.1109/TBME.2010.2060723ISI: 000283439900003ScopusID: 2-s2.0-77958126969OAI: oai:DiVA.org:kth-26238DiVA: diva2:398742
QC 201102182011-02-182010-11-212011-11-21Bibliographically approved