Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2013.13.1918

An Analysis of the Heading Bias Effects in PNS using IMUs Attached to Shoes  

Kim, SangSik (Dept. of Control and Robotics Eng., Chungbuk National University)
Yi, YearnGui (Dept. of Control and Robotics Eng., Chungbuk National University)
Park, Chansik (Dept. of Control and Robotics Eng., Research Institute of Computer Information and Communication, Chungbuk National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.11, 2013 , pp. 1053-1059 More about this Journal
Abstract
Heading bias effects in PNS using IMUs attached to shoes are analyzed in this paper. The navigation algorithms of a single foot PNS where one IMU is attached to a foot and dual foot PNSs where two IMUs are attached to each foot are derived. Two navigation algorithms are proposed for the dual foot PNS: 1) the positions from the independent right and left foot PNSs are averaged to provide the final position, 2) the right and left foot PNSs are correlated and it provides positions of each foot. Furthermore, it is proven that two methods are equal. Using the derived navigation algorithms the effect of heading bias caused by a misalignment of the moving direction and IMU is analyzed. The analysis explains the position error of a single foot PNS is diverged while the heading bias is effectively compensated in dual foot PNSs because of the symmetry of heading biases. The experimental results confirm the analysis.
Keywords
PNS; IMU; heading bias; dual foot PNS;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 S. S. Kim, J. H. Moon, Y. C. Shin, and C. Park, "Accurate heading determination using two low Cost IMUs in personal navigation system," Proc. of International Symposium on GPS/GNSS 2012, Xi'an, Nov. 2012.
2 L. Ojeda, J. Borenstein, "Personal dead-reckoning system for GPS-denied environments," Proc. of the 2007 IEEE International Workshop on Safety, Security and Rescue Robotics, pp. 1-6, Italy, Sep. 2007.
3 H. U. Kim, S. H. Shin, C. G. Park, and S. E. Choi, "GPS-based real-time step length compensation for PDR," Proc. of the 15th GNSS Workshop, Busan, Oct. 2008.
4 S. Scapelloto, F. Cavallo, C. Martelloni, and A. M. Sabatini, "Inuse calibration of body-mounted gyroscopes for applications in gait analysis," Journal of Sensors and Actuators, vol. 123-124, pp. 418-422, May. 2005.   DOI   ScienceOn
5 T. E. Kim, H. W. Lee, D. K. Chwa, and S. K. Hong, "Estimation of the sensor location and the step for personal navigation system," Proc. of 2010 The Korean Institute of Electrical Engineers, vol. 59, no. 11, pp. 2058-2065, Nov. 2010.
6 S. S. Kim, J. H. Moon, K. A. Kim, E. J. Cha, and C. Park, "Personal navigation system using low-cost IMU attached to shoes," Proc. of 2012 The Korean Institute of Electrical Engineers, pp. 1236-1237, Jul. 2012.
7 B. Mariani, H. Rouhani, X. Crevoisier, and K. Aminian, "Quantitative estimation of foot-flat and stance phase of gait using foot-worn inertial sensor," Journal of Gait & Posture, vol. 37, no. 2, pp. 229-234, Jul. 2012.
8 D. J. Young, "Personal navigation via high-resolution gaitcorrected inertial measurement units," IEEE transactions on Instrumentation and measurement, vol. 59, no. 11, pp. 3018- 3027, Nov. 2010.   DOI   ScienceOn
9 E. Foxlin, "Pedestrian tracking with shoe-mounted inertial sensors," IEEE Computer Graphics and Applications, vol. 25, no. 6, pp. 38-46, Nov. 2005.   DOI   ScienceOn
10 C. Ascher, C. kessler, M. Wankerl, and G. F. Trommer, "Dual IMU indoor navigation with particle filter based map-matching on a smartphone," Proc. of International Conference on Indoor Position and Indoor Navigation(IPIN), Switzerland, Sep. 2010.
11 A. R. Jimenez Ruiz, F. S. Granja, J. C. P. Honorato, and J. I. Guevara Rosas, "Pedestrian indoor navigation by aiding a footmounted IMU with RFID signal strength measurements," Proc. of International Conference on Indoor Position and Indoor Navigation(IPIN), Switzerland, Sep. 2010.
12 D. Y. Kang, "Development of a personal navigation system including activity monitoring function," Master Dissertation (in Korean), Chungbuk National University, 2008.
13 A. Peruzzi, U. D. Croce, and A. Cereatti, "Estimation of stride length in level walking using an inertial measurement unit attached to the foot: A validation of the zero velocity assumption during stance," Journal of Biomechanics, vol. 44, no. 10, pp. 1991-1994, 2011.   DOI   ScienceOn
14 Y. H. Kim, B. S. Choi, and J. M. Lee, "Hybrid car navigation system using GPS and dual electric compass," Journal of Control, Automation, and Systems Engineering (in Korean), vol. 12, no. 2, pp. 106-112, Feb. 2006.   과학기술학회마을   DOI   ScienceOn