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Evaluation of zero-velocity detectors for foot-mounted inertial navigation systems
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.
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-2718-0262
2010 (English)In: 2010 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2010, 2010Conference paper, Published paper (Refereed)
Abstract [en]

A study of the performance of four zero-velocity detectors for a foot-mounted inertial sensor based pedestrian navigation system is presented. The four detectors are the acceleration moving variance detector, the acceleration magnitude detector, the angular rate energy detector, and a novel generalized likelihood ratio test detector, refereed to as the SHOE. The performance of each detector is assessed by the accuracy of the position solution provided by the navigation system employing the detector to perform zero-velocity updates. The results show that for leveled ground forward gait at a speed of 5 km/h, the angular rate energy detector and the SHOE give the highest performance, with a position accuracy of 0.14% of the travelled distance. The results also indicate that during leveled ground forward gait, the gyroscope signals hold the most reliable information for zerovelocity detection.

Place, publisher, year, edition, pages
2010.
Keyword [en]
INS, Indoor navigation, pedestrian navigation
National Category
Signal Processing
Identifiers
URN: urn:nbn:se:kth:diva-82067DOI: 10.1109/IPIN.2010.5646936ISI: 000345209100035Scopus ID: 2-s2.0-78650720785OAI: oai:DiVA.org:kth-82067DiVA: diva2:497897
Conference
2010 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2010. Zurich. 15 September 2010 - 17 September 2010
Note

QC 20120213

Available from: 2012-02-11 Created: 2012-02-11 Last updated: 2015-06-10Bibliographically approved

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Skog, IsaacHändel, Peter

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
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  • Other locale
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Output format
  • html
  • text
  • asciidoc
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