Using Step Size and Lower Limb Segment Orientation from Multiple Low-Cost Wearable Inertial/Magnetic Sensors for Pedestrian Navigation
dc.contributor.author | O'Keefe, Kyle P. G. | |
dc.contributor.author | Tjhai, Chandra | |
dc.date.accessioned | 2019-07-17T18:31:48Z | |
dc.date.available | 2019-07-17T18:31:48Z | |
dc.date.issued | 2019-07-17 | |
dc.description.abstract | This 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.grantingagency | Natural Sciences and Engineering Research Council - Collaborative Research & Development Grant | en_US |
dc.identifier.citation | Tjhai, 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/s19143140 | en_US |
dc.identifier.doi | http://dx.doi.org/10.3390/s19143140 | en_US |
dc.identifier.uri | http://hdl.handle.net/1880/110646 | |
dc.identifier.uri | https://dx.doi.org/10.11575/PRISM/37446 | |
dc.language.iso | eng | en_US |
dc.publisher.department | Geomatics Engineering | en_US |
dc.publisher.faculty | Schulich School of Engineering | en_US |
dc.publisher.institution | University of Calgary | en_US |
dc.rights | ©2019 by the authors | en_US |
dc.rights.uri | https://creativecommons.org/licenses/by/4.0 | en_US |
dc.subject | wearable sensors | en_US |
dc.subject | step length | en_US |
dc.subject | stride length | en_US |
dc.subject | wearable multi-sensor system | en_US |
dc.subject | forward kinematics | en_US |
dc.subject | pitch angle | en_US |
dc.subject | skeletal model | en_US |
dc.subject | step size | en_US |
dc.title | Using Step Size and Lower Limb Segment Orientation from Multiple Low-Cost Wearable Inertial/Magnetic Sensors for Pedestrian Navigation | en_US |
dc.type | journal article | en_US |
ucalgary.item.requestcopy | true | en_US |
Files
Original bundle
1 - 1 of 1
Loading...
- Name:
- sensors-19-03140.pdf
- Size:
- 3.98 MB
- Format:
- Adobe Portable Document Format
- Description:
- Main Article