Using Step Size and Lower Limb Segment Orientation from Multiple Low-Cost Wearable Inertial/Magnetic Sensors for Pedestrian Navigation

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dc.contributor.authorO'Keefe, Kyle P. G.
dc.contributor.authorTjhai, Chandra
dc.date.accessioned2019-07-17T18:31:48Z
dc.date.available2019-07-17T18:31:48Z
dc.date.issued2019-07-17
dc.description.abstractThis paper demonstrates the use of multiple low-cost inertial/magnetic sensors as a pedestrian navigation system for indoor positioning. This research looks at the problem of pedestrian navigation in a practical manner by investigating dead-reckoning methods using low-cost sensors. This work uses the estimated sensor orientation angles to compute the step size from the kinematics of a skeletal model. The orientations of limbs are represented by the tilt angles estimated from the inertial measurements, especially the pitch angle. In addition, different step size estimation methods are compared. A sensor data logging system is developed in order to record all motion data from every limb segment using a single platform and similar types of sensors. A skeletal model of five segments is chosen to model the forward kinematics of the lower limbs. A treadmill walk experiment with an optical motion capture system is conducted for algorithm evaluation. The mean error of the estimated orientation angles of the limbs is less than 6 degrees. The results show that the step length mean error is 3.2 cm, the left stride length mean error is 12.5 cm, and the right stride length mean error is 9 cm. The expected positioning error is less than 5% of the total distance travelled.en_US
dc.description.grantingagencyNatural Sciences and Engineering Research Council - Collaborative Research & Development Granten_US
dc.identifier.citationTjhai, C., & O'Keefe, K. P. G. (2019). Using Step Size and Lower Limb Segment Orientation from Multiple Low-Cost Wearable Inertial/Magnetic Sensors for Pedestrian Navigation. "Sensors, 19", 3140. http://dx.doi.org/10.3390/s19143140en_US
dc.identifier.doihttp://dx.doi.org/10.3390/s19143140en_US
dc.identifier.urihttp://hdl.handle.net/1880/110646
dc.identifier.urihttps://dx.doi.org/10.11575/PRISM/37446
dc.language.isoengen_US
dc.publisher.departmentGeomatics Engineeringen_US
dc.publisher.facultySchulich School of Engineeringen_US
dc.publisher.institutionUniversity of Calgaryen_US
dc.rights©2019 by the authorsen_US
dc.rights.urihttps://creativecommons.org/licenses/by/4.0en_US
dc.subjectwearable sensorsen_US
dc.subjectstep lengthen_US
dc.subjectstride lengthen_US
dc.subjectwearable multi-sensor systemen_US
dc.subjectforward kinematicsen_US
dc.subjectpitch angleen_US
dc.subjectskeletal modelen_US
dc.subjectstep sizeen_US
dc.titleUsing Step Size and Lower Limb Segment Orientation from Multiple Low-Cost Wearable Inertial/Magnetic Sensors for Pedestrian Navigationen_US
dc.typejournal articleen_US
ucalgary.item.requestcopytrueen_US
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