High-precision and Robust Indoor Localization Based on Foot-mounted Inertial Sensors

Jan Ruppelt, Nikolai Kronenwett, Georg Scholz, Gert F. Trommer

Abstract:	In this paper we present a high-precision and robust indoor navigation system based on foot-mounted inertial sensors. We use a finite state machine based step detection technique for precise localization. This approach is able to detect different stances of the foot with high accuracy. The FSM-based step detection technique precisely detect Zero Velocity Updates (ZUPTs). ZUPTs can be applied in time in the navigation filter and positively affect the grade of the navigation solution. The functionality of the step detection module in combination with a constraint, stochastic cloning (SC) Kalman filter are analyzed with real sensor data recorded with our personal navigation system. Even with ultra-low cost inertial sensors, this approach delivers a personal navigation system for precise positioning in indoor environments and outdoor areas.
Published in:	Proceedings of IEEE/ION PLANS 2016 April 11 - 14, 2016 Hyatt Regency Hotel Savannah, GA
Pages:	67 - 75
Cite this article:	Ruppelt, Jan, Kronenwett, Nikolai, Scholz, Georg, Trommer, Gert F., "High-precision and Robust Indoor Localization Based on Foot-mounted Inertial Sensors," Proceedings of IEEE/ION PLANS 2016, Savannah, GA, April 2016, pp. 67-75. https://doi.org/10.1109/PLANS.2016.7479684
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