Use of Multiple Wearable Inertial Sensors in Human Localization

Min Su Lee, Chan Gook Park, Ho Jin Ju, Jin Woo Song

Abstract:	In this paper, we present an advanced human localization algorithm using multiple wearable inertial sensors. The basic idea of the proposed algorithm is constantly fusing the position and velocity of foot-mounted IMU based PDR (Pedestrian Dead Reckoning) system using known kinematic relations between segments, which contribute to minimize the yaw angle drift. The seven inertial sensors attached at foot, lower leg (calf), upper leg (thigh) of both legs and center of waist. Each inertial sensors are consists of three-axis accelerometers, three-axis gyros and three-axis magnetometers. Advanced ZUPT (Zero velocity UPdaTe) algorithm is implemented at each foot sensor for positioning. Kinematic relations were used to solve dual foot-mounted inertial sensors problem which have uncorrelated headings. The proposed algorithm could provide yaw angle drift of pedestrian from dual leg measurements. Experiments were conducted to validated accuracy of proposed algorithm with comparing to the reference parameters measured by a stationary optical system.
Published in:	Proceedings of the ION 2015 Pacific PNT Meeting April 20 - 23, 2015 Marriott Waikiki Beach Resort & Spa Honolulu, Hawaii
Pages:	1037 - 1042
Cite this article:	Lee, Min Su, Park, Chan Gook, Ju, Ho Jin, Song, Jin Woo, "Use of Multiple Wearable Inertial Sensors in Human Localization," Proceedings of the ION 2015 Pacific PNT Meeting, Honolulu, Hawaii, April 2015, pp. 1037-1042.
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