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Zero-Velocity Detection-An Algorithm Evaluation
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-3054-6413
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-2718-0262
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
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
Abstract [en]

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.
Keyword [en]
Biomedical signal processing, detection, detection algorithm, inertial navigation, navigation
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-26238DOI: 10.1109/TBME.2010.2060723ISI: 000283439900003Scopus ID: 2-s2.0-77958126969OAI: oai:DiVA.org:kth-26238DiVA: diva2:398742
Note
QC 20110218Available from: 2011-02-18 Created: 2010-11-21 Last updated: 2017-12-11Bibliographically approved

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Skog, IsaacHändel, Peter

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