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Loose coupling of wearable-based INSs with automatic heading evaluation

Bousdar Ahmed, Dina and Munoz Diaz, Estefania (2017) Loose coupling of wearable-based INSs with automatic heading evaluation. Sensors, 17, pp. 1-18. Multidisciplinary Digital Publishing Institute (MDPI). doi: 10.3390/s17112534. ISSN 1424-8220.

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Official URL: http://www.mdpi.com/1424-8220/17/11/2534


Position tracking of pedestrians by means of inertial sensors is a highly explored field of research. In fact, there are already many approaches to implement inertial navigation systems (INSs). However, most of them use a single inertial measurement unit (IMU) attached to the pedestrian's body. Since wearable-devices will be given items in the future, this work explores the implementation of an INS using two wearable-based IMUs. A loosely coupled approach is proposed to combine the outputs of wearable-based INSs. The latter are based on a pocket-mounted IMU and a foot-mounted IMU. The loosely coupled fusion combines the output of the two INSs not only when these outputs are least erroneous, but also automatically favoring the best output. This approach is named smart update. The main challenge is determining the quality of the heading estimation of each INS, which changes every time. In order to address this, a novel concept to determine the quality of the heading estimation is presented. This concept is subject to a patent application. The results show that the position error rate of the loosely coupled fusion is 10 cm/s better than either the foot INS's or pocket INS's error rate in 95% of the cases.

Item URL in elib:https://elib.dlr.de/115064/
Document Type:Article
Title:Loose coupling of wearable-based INSs with automatic heading evaluation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Bousdar Ahmed, DinaDina.BousdarAhmed (at) dlr.deUNSPECIFIED
Munoz Diaz, Estefaniaestefania.munoz (at) dlr.deUNSPECIFIED
Date:3 November 2017
Journal or Publication Title:Sensors
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In ISI Web of Science:Yes
Page Range:pp. 1-18
Publisher:Multidisciplinary Digital Publishing Institute (MDPI)
Keywords:wearable devices; position tracking; INS; IMU; pedestrian navigation; fusion; drift; quality factor; heading quality, inertial navigation
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrzeugintelligenz (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Bousdar Ahmed, Dina
Deposited On:13 Nov 2017 14:22
Last Modified:14 Dec 2019 04:27

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