센서학회지 (Journal of Sensor Science and Technology)

  • 제19권4호
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  • Pages.278-284
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  • 2010
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  • 1225-5475(pISSN)
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  • 2093-7563(eISSN)
한국센서학회 (The Korean Sensors Society)
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Sensor fusion based ambulatory system for indoor localization

  • Lee, Min-Yong (Department of Mechanical and System Design Engineering, Hongik University) ;
  • Lee, Soo-Yong (Department of Mechanical and System Design Engineering, Hongik University)
  • 투고 : 2010.03.26
  • 심사 : 2010.06.21
  • 발행 : 2010.07.31
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초록

Indoor localization for pedestrian is the key technology for caring the elderly, the visually impaired and the handicapped in health care districts. It also becomes essential for the emergency responders where the GPS signal is not available. This paper presents newly developed pedestrian localization system using the gyro sensors, the magnetic compass and pressure sensors. Instead of using the accelerometer, the pedestrian gait is estimated from the gyro sensor measurements and the travel distance is estimated based on the gait kinematics. Fusing the gyro information and the magnetic compass information for heading angle estimation is presented with the error covariance analysis. A pressure sensor is used to identify the floor the pedestrian is walking on. A complete ambulatory system is implemented which estimates the pedestrian's 3D position and the heading.

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참고문헌

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