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Modeling & Error Compensation of Walking Navigation System  

Cho, Seong-Yun (광운대학 제어계측공학과)
Park, Chan Gook (광운대학 제어계측공학과)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers D / v.51, no.6, 2002 , pp. 221-227 More about this Journal
Abstract
In this paper, the system model for the compensation of the low-cost personal navigation system is derived and the error compensation method using GPS is also proposed. WNS(Walking Navigation System) is a kind of personal navigation system using the number of a walk, stride and azimuth. Because the accuracy of these variables determines the navigation performance, computational methods have been investigated. The step is detected using the walking patterns, stride is determined by neural network and azimuth is calculated with gyro output. The neural network filters off unnecessary motions. However, the error compensation method is needed, because the error of navigation information increases with time. In this paper, the accumulated error due to the step detection error, stride error and gyro bias is compensated by the integrating with GPS. Loosely coupled Kalman filter is used for the integration of WNS and GPS. It is shown by simulation that the error is bounded even though GPS signal is blocked.
Keywords
WNS(Walking Navigation System); neural network; WNS/GPS; Kalman filter;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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