Foot-Mounted INS for Everybody-An Open-Source Embedded Implementation

J-O. Nilsson, I. Skog, P. Händel, and K.V.S. Hari

Abstract:	We present an open-source, realtime, embedded implementation of a foot-mounted, zero-velocity-update-aided inertial navigation system. The implementation includes both hardware design and software, uses off-the-shelf components and assembly methods, and features a standard USB interface. The software is written in C and can easily be modified to run user implemented algorithms. The hardware design and the software are released under permissive open-source licenses and production files, source code, documentation, and further resources are available at www.openshoe.org. The reproduction cost for a single unit is below $800, with the inertial measurement unit making up the bulk ($700). The form factor of the implementation is small enough for it to be integrated in the sole of a shoe. A performance evaluation of the system shows a position errors for short trajectories (<100 [m]) of ± 0.2-1% of the traveled distance, depending on the shape of trajectory.
Published in:	Proceedings of IEEE/ION PLANS 2012 April 24 - 26, 2012 Myrtle Beach Marriott Resort & Spa Myrtle Beach, South Carolina
Pages:	140 - 145
Cite this article:	Nilsson, J-O., Skog, I., Händel, P., Hari, K.V.S., "Foot-Mounted INS for Everybody-An Open-Source Embedded Implementation," Proceedings of IEEE/ION PLANS 2012, Myrtle Beach, South Carolina , April 2012, pp. 140-145. https://doi.org/10.1109/PLANS.2012.6236875
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In