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Wearable-based pedestrian inertial navigation with constraints based on biomechanical models

Bousdar Ahmed, Dina and Metzger, Kai (2018) Wearable-based pedestrian inertial navigation with constraints based on biomechanical models. ION PLANS, 23-26 April 2018, Monterrey, California (U.S.A.).

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Our aim in this paper is to analyze inertial navigation systems (INSs) from the biomechanical point of view. We wanted to improve the performance of a thigh INS by applying biomechanical constraints. To that end, we propose a biomechanical model of the leg. The latter establishes a relationship between the orientation of the thigh INS and the kinematic motion of the leg. This relationship allows to observe the effect that the orientation errors have in the expected motion of the leg. We observe that the errors in the orientation estimation of an INS translate into incoherent human motion. Based on this analysis, we proposed a modified thigh INS to integrate biomechanical constraints. The results show that the proposed system outperforms the thigh INS in 50% regarding distance error and 32% regarding orientation error. Our approach allows us to improve the performance of INS using solely inertial measurements and biomechanical constraints. Additionally, it allows us to state that the performance of an INS can be improved by correcting the incoherent orientations.

Item URL in elib:https://elib.dlr.de/119217/
Document Type:Conference or Workshop Item (Other)
Title:Wearable-based pedestrian inertial navigation with constraints based on biomechanical models
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Bousdar Ahmed, DinaDina.BousdarAhmed (at) dlr.deUNSPECIFIED
Metzger, Kaikai_metzger (at) web.deUNSPECIFIED
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:Wearables, IMU, stance phase, dead reckoning, human kinematics, leg model, Denavit-Hartenberg
Event Title:ION PLANS
Event Location:Monterrey, California (U.S.A.)
Event Type:international Conference
Event Dates:23-26 April 2018
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:19 Jul 2018 09:22
Last Modified:31 Jul 2019 20:16

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