In-Situ Step Size Estimation Using a Kinetic Model of Human Gait

C.J. Matthews, Y. Ketema, D. Gebre-Egziabher, M. Schwartz

Abstract:	A kinetic model of human gait is developed and its use as a virtual sensor in a dead reckoning system for personal navigation is examined. The kinetic model developed can be used to provide a real-time estimate of stride length. Therefore it can potentially augment other dead reckoning algorithms commonly used in personal navigation such as step counting or inertial navigation using shoe-mounted IMUs. Using simulations and experimental data, it is shown that the kinetic model and a single-axis accelerometer can be used to estimate stride length in-situ for straight forward walking. Furthermore, the combination of the kinetic model and accelerometer yields a navigation solution of comparable or better performance when compared to the step counting approach. The derivation of this model is discussed, details of the experiments are given, and results are shown.
Published in:	Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010) September 21 - 24, 2010 Oregon Convention Center, Portland, Oregon Portland, OR
Pages:	511 - 524
Cite this article:	Matthews, C.J., Ketema, Y., Gebre-Egziabher, D., Schwartz, M., "In-Situ Step Size Estimation Using a Kinetic Model of Human Gait," Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010), Portland, OR, September 2010, pp. 511-524.
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