Experimental Validation of Foot to Foot Range Measurements in Pedestrian Tracking

Michel Laverne, Michael George, Dale Lord, Alonzo Kelly, Tamal Mukherjee

Abstract:	A pedestrian tracking system using inertial sensors mounted on both feet is presented. Significant accuracy improvements are demonstrated, compared to single shoe tracking, by using ultrasonic foot-to-foot range measurements to constrain heading drift. A single complementary Kalman filter fuses data from both inertial measurement units and the range sensor. The system is composed of commercial and custom hardware. Experimental results collected over long durations and distances are presented.
Published in:	Proceedings of the 24th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2011) September 20 - 23, 2011 Oregon Convention Center, Portland, Oregon Portland, OR
Pages:	1386 - 1393
Cite this article:	Laverne, Michel, George, Michael, Lord, Dale, Kelly, Alonzo, Mukherjee, Tamal, "Experimental Validation of Foot to Foot Range Measurements in Pedestrian Tracking," Proceedings of the 24th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2011), Portland, OR, September 2011, pp. 1386-1393.
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