Document Type

Article

Publication Date

11-2010

Publication Title

IEEE Transactions on Instrumentation and Measurement

Abstract

In this paper, a personal micronavigation system that uses high-resolution gait-corrected inertial measurement units is presented. The goal of this paper is to develop a navigation system that uses secondary inertial variables, such as velocity, to enable long-term precise navigation in the absence of Global Positioning System (GPS) and beacon signals. In this scheme, measured zerovelocity duration from the ground reaction sensors is used to reset the accumulated integration errors from accelerometers and gyroscopes in position calculation. With the described system, an average position error of 4 m is achieved at the end of half-hour walks.

DOI

10.1109/TIM.2010.2046595

Version

Postprint

Volume

59

Issue

11

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