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Investigating the use of rotating foot mounted inertial sensors for positioning

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dc.Conferencecode97623
dc.Conferencedate17 September 2012 through 21 September 2012
dc.ConferencelocationNashville, TN
dc.Conferencename25th International Technical Meeting of the Satellite Division of the Institute of Navigation 2012, ION GNSS 2012
dc.citedby4
dc.contributor.affiliationsUniversity of Nottingham
dc.contributor.affiliationsUniversiti Sains Islam Malaysia (USIM)
dc.contributor.authorHide C.en_US
dc.contributor.authorMoore T.en_US
dc.contributor.authorHill C.en_US
dc.contributor.authorAbdulrahim K.en_US
dc.date.accessioned2024-05-28T08:38:10Z
dc.date.available2024-05-28T08:38:10Z
dc.date.issued2012
dc.description.abstractFoot mounted inertial sensors have been used in recent literature to provide high accuracy positioning through the use of zero velocity updates (ZUPT) every time the user takes a step. When only ZUPTs are used, the remaining positioning errors are primarily a result of heading drift due to poor observability. This paper demonstrates that a single axis rotation of an Inertial Measurement Unit (IMU) provides improved observability of IMU accelerometer and gyro biases. In particular, all gyro biases become observable when the IMU is rotated about a single horizontal axis. This results in a significant reduction of heading errors and hence also improves positioning accuracy. This paper first presents results using simulated data from a static environment to verify observability of bias states. The paper then describes the results from a physical implementation of a rotating IMU platform that is attached to a user's shoe. It is demonstrated that maximum position errors are significantly reduced to less than 1.3m over three trials for the rotating IMU compared to 12.4m for the non-rotating IMU.
dc.description.natureFinalen_US
dc.identifier.epage1625
dc.identifier.isbn9781620000000
dc.identifier.scopus2-s2.0-84879609771
dc.identifier.spage1619
dc.identifier.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-84879609771&partnerID=40&md5=a5d4a2e407c763fb166ab667097a4ae0
dc.identifier.urihttps://oarep.usim.edu.my/handle/123456789/9206
dc.identifier.volume3
dc.languageEnglish
dc.language.isoen_USen_US
dc.relation.ispartof25th International Technical Meeting of the Satellite Division of the Institute of Navigation 2012, ION GNSS 2012
dc.sourceScopus
dc.subjectHigh-accuracy positioningen_US
dc.subjectInertial measurement uniten_US
dc.subjectPosition errorsen_US
dc.subjectPositioning accuracyen_US
dc.subjectPositioning erroren_US
dc.subjectSingle axis rotationsen_US
dc.subjectStatic environmenten_US
dc.subjectZero velocity update (ZUPT)en_US
dc.subjectErrorsen_US
dc.subjectGyroscopesen_US
dc.subjectInertial navigation systemsen_US
dc.subjectObservabilityen_US
dc.subjectUnits of measurementen_US
dc.subjectGlobal positioning systemen_US
dc.titleInvestigating the use of rotating foot mounted inertial sensors for positioningen_US
dc.typeArticleen_US
dspace.entity.typePublication

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