The recent development of compact, inexpensive sensors makes it possible to apply self-contained sensor-only navigation techniques for pedestrian motion. Previous research efforts have employed gyroscopes and magnetic compasses to determine system orientation, and have used accelerometers for step detection and stride length estimation. To simplify the problem of determining the orientation of the Sensor Frame with respect to the User Frame, previous systems have fixed the sensors to the user’s torso. In this paper, the performance of a novel shoe-mounted sensor solution is compared to solutions from GPS and torso-mounted sensors. The proposed deadreckoning navigation system applies an array of accelerometers and magneto-resistive sensors worn on the subject’s shoe. Measurement of the foot's acceleration allows the precise identification of separate stride segments, thus providing improved stride length estimation. The system relies on identifying the stance phase to resolve the sensor attitude and determine the step heading. Performance metrics include accuracy of step detection, foot angle, foot velocity, stride length estimation and heading with respect to a high accuracy reference trajectory.
[1]
M. J. Caruso,et al.
Applications of magnetic sensors for low cost compass systems
,
2000,
IEEE 2000. Position Location and Navigation Symposium (Cat. No.00CH37062).
[2]
H. Inooka,et al.
Non-restricted measurement of walking distance
,
2000,
Smc 2000 conference proceedings. 2000 ieee international conference on systems, man and cybernetics. 'cybernetics evolving to systems, humans, organizations, and their complex interactions' (cat. no.0.
[3]
Gérard Lachapelle,et al.
Performance analysis of a stand-alone high-sensitivity receiver
,
2002
.
[4]
Quentin Ladetto.
Capteurs et algorithmes pour la localisation autonome en mode pédestre
,
2003
.