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Foot-mounted inertial navigation made easy
KTH, School of Electrical Engineering (EES), Signal Processing.
KTH, School of Electrical Engineering (EES), Signal Processing.ORCID iD: 0000-0002-2718-0262
2014 (English)In: IPIN 2014 - 2014 International Conference on Indoor Positioning and Indoor Navigation, IEEE conference proceedings, 2014, 24-29 p.Conference paper (Refereed)Text
Abstract [en]

Despite being around for almost two decades, foot-mounted inertial navigation only has gotten a limited spread. Contributing factors to this are lack of suitable hardware platforms and difficult system integration. As a solution to this, we present an open-source wireless foot-mounted inertial navigation module with an intuitive and significantly simplified dead reckoning interface. The interface is motivated from statistical properties of the underlying aided inertial navigation and argued to give negligible information loss. The module consists of both a hardware platform and embedded software. Details of the platform and the software are described, and a summarizing description of how to reproduce the module are given. System integration of the module is outlined and finally, we provide a basic performance assessment of the module. In summary, the module provides a modularization of the foot-mounted inertial navigation and makes the technology significantly easier to use.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2014. 24-29 p.
Keyword [en]
Air navigation, Hardware, Inertial navigation systems, Modular construction, Open source software, Aided inertial navigation, Contributing factor, Hardware platform, Inertial navigations, Information loss, Performance assessment, Statistical properties, System integration, Navigation
National Category
Embedded Systems Software Engineering
URN: urn:nbn:se:kth:diva-181661DOI: 10.1109/IPIN.2014.7275464ScopusID: 2-s2.0-84947907637ISBN: 9781467380546OAI: diva2:912397
5th International Conference on Indoor Positioning and Indoor Navigation, IPIN 2014, 27 October 2014 through 30 October 2014

QC 20160316

Available from: 2016-03-16 Created: 2016-02-02 Last updated: 2016-03-16Bibliographically approved

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Nilsson, Jan-OlofHändel, Peter
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