Data fusion of dual foot-mounted INS to reduce the systematic heading drift
2013 (English)In: Fourth International Conference on Intelligent Systems, Modelling and Simulation (ISMS 2013), 2013, 208-213 p.Conference paper (Refereed)
In this report, we investigate the problem of applying a range constraint in order to reduce the systematic heading drift in a foot-mounted inertial navigation system (INS) (motion-tracking). We make use of two foot-mounted INS, one on each foot, which are aided with zero-velocity detectors. A novel algorithm is proposed in order to reduce the systematic heading drift. The proposed algorithm is based on the idea that the separation between the two feet at any given instance must always lie within a sphere of radius equal to the maximum possible spatial separation between the two feet. A Kalman filter, getting one measurement update and two observation updates is used in this algorithm.
Place, publisher, year, edition, pages
2013. 208-213 p.
, Proceedings - International Conference on Intelligent Systems, Modelling and Simulation, ISMS, ISSN 2166-0662
Indoor Navigation, Inertial Measurement Unit, Kalman Filter, Pedestrian Navigation System, Systematic Heading Drift, In-door navigations, Inertial navigation systems (INS), Measurement updates, Pedestrian navigation systems, Range constraints, Spatial separation, Algorithms, Data fusion, Intelligent systems, Kalman filters, Separation, Units of measurement, Inertial navigation systems
Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-134463DOI: 10.1109/ISMS.2013.46ISI: 000321584200042ScopusID: 2-s2.0-84877762132ISBN: 9780769549637OAI: oai:DiVA.org:kth-134463DiVA: diva2:668840
4th International Conference on Intelligent Systems, Modelling and Simulation, ISMS 2013, 29 January 2013 through 31 January 2013, Bangkok
QC 201312022013-12-022013-11-252014-02-14Bibliographically approved