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Fusing the navigation information of dual foot-mounted zero-velocity-update-Aided inertial navigation systems
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-2718-0262
2014 (English)In: 2014 International Conference on Signal Processing and Communications, SPCOM 2014, Institute of Electrical and Electronics Engineers , 2014Conference paper, Published paper (Refereed)
Abstract [en]

A range constraint method viz. centroid method is proposed to fuse the navigation information of dual (right and left) foot-mounted Zero-velocity-UPdaTe (ZUPT)-Aided Inertial Navigation Systems (INSs). Here, the range constraint means that the distance of separation between the position estimates of right and left foot ZUPT-Aided INSs cannot be greater than a quantity known as foot-to-foot maximum separation. We present the experimental results which illustrate the applicability of the proposed method. The results show that the proposed method significantly enhances the accuracy of the navigation solution when compared to using two uncoupled foot-mounted ZUPT-Aided INSs. Also, we compare the performance of the proposed method with the existing data fusion methods.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers , 2014.
Keyword [en]
Inertial navigation, Kalman filter, range constraint, Zero-velocity detection, Data fusion, Kalman filters, Navigation, Navigation systems, Signal processing, Data fusion methods, Inertial navigations, Navigation in formation, Navigation solution, Position estimates, Range constraints, Zero velocity detections, Zero velocity update (ZUPT), Inertial navigation systems
National Category
Signal Processing
Identifiers
URN: urn:nbn:se:kth:diva-167533DOI: 10.1109/SPCOM.2014.6984001ISI: 000364936400091Scopus ID: 2-s2.0-84920747258ISBN: 9781479946655 (print)OAI: oai:DiVA.org:kth-167533DiVA, id: diva2:819329
Conference
10th International Conference on Signal Processing and Communications, SPCOM 2014, 22 July 2014 through 25 July 2014
Note

QC 20150610

Available from: 2015-06-10 Created: 2015-05-22 Last updated: 2015-12-18Bibliographically approved

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Händel, Peter

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf