Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Step Length Estimation Algorithm for Firefighter using Linear Calibration

선형 보정을 이용한 구난요원의 보폭 추정 알고리즘

  • Lee, Min Su (Automation and Systems Research Institute (ASRI), Seoul National University) ;
  • Ju, Ho Jin (Department of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Park, Chan Gook (Department of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Heo, Moonbeom (CNS/ATM and Satellite Navigation Research Center Satellite Navigation Team)
  • 이민수 (서울대학교 기계항공공학부) ;
  • 주호진 (서울대학교 기계항공공학부) ;
  • 박찬국 (서울대학교 기계항공공학부) ;
  • 허문범 (교통항법기술연구센터 위성항법팀)
  • Received : 2012.09.07
  • Accepted : 2013.05.16
  • Published : 2013.07.01
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Abstract

This paper presents a step length estimation algorithm for Pedestrian Dead Reckoning using linear calibrated ZUPT (zero velocity update) with a foot mounted IMU. The IMU consists of 3 axis accelerometer, gyro and magnetometer. Attitude of IMU is estimated using an inertial navigation algorithm. To increase accuracy of step length estimation algorithm, we propose a stance detection algorithm and an enhanced ZUPT. The enhanced ZUPT calculates firefighter's step length considering velocity error caused by sensor bias during one step. This algorithm also works efficiently at various motions, such as crawling, sideways and stair stepping. Through experiments, the step length estimation performance of the proposed algorithm is verified.

Keywords

References

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Cited by

  1. Kinematic Model-Based Pedestrian Dead Reckoning for Heading Correction and Lower Body Motion Tracking vol.15, pp.11, 2015, https://doi.org/10.3390/s151128129