Knee and Waist Attached Gyroscopes for Personal Navigation: Comparison of Knee, Waist and Foot Attached Inertial Sensors

Z. Liu, C-H. Won

Abstract:	We perform personal navigation using inertial sensors at knee, waist and foot positions. We found out that the knee attached gyroscope gives the best distance traveled information. The proposed system at the knee takes advantage of the fact that the angular displacements repeats at each period (each step of the walking person). Using this period, the system will keep the angular displacement errors bounded. Also, the waist attached gyroscope gives the best heading information. Consequently, we propose a personal navigation system that consists of gyroscopes at the knee and waist. The system performance was evaluated with a number of indoor experiments and the experimental results showed that this configuration provide better position information compared to other configurations. The system performs well even when the person is climbing stairs.
Published in:	Proceedings of IEEE/ION PLANS 2010 May 4 - 6, 2010 Renaissance Esmeralda Resort & Spa Indian Wells, CA
Pages:	375 - 381
Cite this article:	Liu, Z., Won, C-H., "Knee and Waist Attached Gyroscopes for Personal Navigation: Comparison of Knee, Waist and Foot Attached Inertial Sensors," Proceedings of IEEE/ION PLANS 2010, Indian Wells, CA, May 2010, pp. 375-381. https://doi.org/10.1109/PLANS.2010.5507306
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