Foot-mounted INS for Everybody: An Open-source Embedded Implementation
2012 (English)In: 2012 IEEE/ION Position Location and Navigation Symposium (PLANS), IEEE , 2012, 140-145 p.Conference paper (Refereed)
We present an open-source, realtime, embedded implementation of a foot-mounted, zero-velocity-update-aided inertial navigation system. The implementation includes both hardware design and software, uses off-the-shelf components and assembly methods, and features a standard USB interface. The software is written in C and can easily be modified to run user implemented a1gorithlUS. The hardware design and the software are released under permissive open-source licenses and production files, source code, documentation, and further resources areavailable at www.openshoe.org. The reproduction cost for a single unit is below $800, with the inertial measurement unit makingup the bulk ($700). The form factor of the implementation is small enough for it to be integrated in the sole of a shoe. A performance evaluation of the system shows a position errors for short trajectories «100 [m)) of ± 0.2-1 % of the traveled distance, depending on the shape of trajectory.
Place, publisher, year, edition, pages
IEEE , 2012. 140-145 p.
, IEEE - ION Position Location and Navigation Symposium, ISSN 2153-358X
acceleration measurement, computerised instrumentation, footwear, hardware-software codesign, inertial navigation, peripheral interfaces, public domain software, system buses, system documentation
IdentifiersURN: urn:nbn:se:kth:diva-101705DOI: 10.1109/PLANS.2012.6236875ISI: 000309273900019ScopusID: 2-s2.0-84866262273ISBN: 978-1-4673-0385-9OAI: oai:DiVA.org:kth-101705DiVA: diva2:548755
IEEE/ION Position Location and Navigation Symposium (PLANS) Location: Myrtle Beach, SC Date: APR 23-26, 2012
FunderICT - The Next Generation
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QC 201210012012-10-012012-08-312013-11-05Bibliographically approved