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http://dx.doi.org/10.5302/J.ICROS.2013.12.1821

Step Length Estimation Algorithm for Firefighter using Linear Calibration  

Lee, Min Su (Automation and Systems Research Institute (ASRI), Seoul National University)
Ju, Ho Jin (Department of Mechanical and Aerospace Engineering, Seoul National University)
Park, Chan Gook (Department of Mechanical and Aerospace Engineering, Seoul National University)
Heo, Moonbeom (CNS/ATM and Satellite Navigation Research Center Satellite Navigation Team)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.7, 2013 , pp. 640-645 More about this Journal
Abstract
This paper presents a step length estimation algorithm for Pedestrian Dead Reckoning using linear calibrated ZUPT (zero velocity update) with a foot mounted IMU. The IMU consists of 3 axis accelerometer, gyro and magnetometer. Attitude of IMU is estimated using an inertial navigation algorithm. To increase accuracy of step length estimation algorithm, we propose a stance detection algorithm and an enhanced ZUPT. The enhanced ZUPT calculates firefighter's step length considering velocity error caused by sensor bias during one step. This algorithm also works efficiently at various motions, such as crawling, sideways and stair stepping. Through experiments, the step length estimation performance of the proposed algorithm is verified.
Keywords
step length estimation; ZUPT; PDR; firefighter; IMU;
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