Model fusion for inertial-based personal dead reckoning systems

Michal Meina, Adam Krasuski, Krzysztof Rykaczewski

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

This paper introduces a model fusion approach that improves the effectiveness of Personal Dead Reckoning Systems that exploits foot-mounted Inertial Measurement Units. Our solution estimates a sensor orientation by exploiting the Madgwick's algorithm integrated with popular Kalman-based solution. This way, attitude and heading correction is not based on the Zero-Velocity phase assumption which introduces significant error. The experiments conducted on ground-truth data shows, that the proposed approach outperforms state-of-the-art solution by reducing systematic and modelling errors and also provides better heading estimation.

Original languageEnglish
Title of host publicationSAS 2015 - 2015 IEEE Sensors Applications Symposium, Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781479961160
DOIs
StatePublished - Jun 24 2015
Externally publishedYes
Event10th IEEE Sensors Applications Symposium, SAS 2015 - Zadar, Croatia
Duration: Apr 13 2015Apr 15 2015

Publication series

NameSAS 2015 - 2015 IEEE Sensors Applications Symposium, Proceedings

Conference

Conference10th IEEE Sensors Applications Symposium, SAS 2015
Country/TerritoryCroatia
CityZadar
Period04/13/1504/15/15

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