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Integration of Foot-Mounted Inertial Sensors into a Bayesian Location Estimation Framework
Krach, Bernhard and Robertson, Patrick (2007) Integration of Foot-Mounted Inertial Sensors into a Bayesian Location Estimation Framework. In: In Proc. WPNC 2008 . WPNC 2008 , 2008-3-27 , Hannover.
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Abstract
An algorithm for integrating foot-mounted inertial sensors into a Bayesian location estimation framework is presented. The proposed integration scheme is based on a cascaded estimation architecture. A lower Kalman filter is used to estimate the step-wise change of position and direction of the foot. These estimates are used in turn as measurements in an upper particle filter, which is able to incorporate nonlinear map-matching techniques. Experimental data is used to verify the proposed algorithm.
| Document Type: | Conference or Workshop Item (Paper) | ||||||
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| Title: | Integration of Foot-Mounted Inertial Sensors into a Bayesian Location Estimation Framework | ||||||
| Authors: |
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| Date: | 2007 | ||||||
| Journal or Publication Title: | In Proc. WPNC 2008 | ||||||
| Status: | Published | ||||||
| State of review: | reviewed publication (not in Journal Citation Report) | ||||||
| Keywords: | Pedestrian navigation, indoor navigation, inertial systems, map matching | ||||||
| Event Title: | WPNC 2008 | ||||||
| Event Location: | Hannover | ||||||
| Event Type: | international Conference | ||||||
| Event Dates: | 2008-3-27 | ||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||
| HGF - Program: | Space | ||||||
| HGF - Program Themes: | W KN - Kommunikation/Navigation | ||||||
| DLR - Research area: | Space | ||||||
| DLR - Program: | W KN - Kommunikation/Navigation | ||||||
| DLR - Research theme (Project): | W - Vorhaben GNSS2/Neue Dienste und Produkte | ||||||
| Location: | Oberpfaffenhofen | ||||||
| Institutes and Institutions: | Institute of Communication and Navigation > Communications Systems | ||||||
| Deposited By: | Dr.-Ing. Patrick Robertson | ||||||
| Deposited On: | 01 Dec 2008 | ||||||
| Last Modified: | 14 Jan 2010 23:23 |
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