Human movement tracking method using inertial sensors for localization in wide spaces

This paper presents a localization method in wide spaces using a sensor system consisting of an accelerometer and a single axis gyroscope. Specifically, the sensor board is loosely worn at three subjects' waists to make the system useful for practical applications. From the experimental results of the circular tracks with the radiuses of 1 m and 3 m, the turning angle threshold (TAT) algorithm is suggested with considering the threshold value of turning angles. The tracking experiments on the grid patterned track models have been performed, and the average distance deviations of the final tracking points from the destination points are approximately 15.2 m for raw data of the sensors and approximately 4.0 m for using TAT algorithm.