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Height Error Correction for Shoe-Mounted Inertial Sensors Exploiting Foot Dynamics

Munoz Diaz, Estefania and Kaiser, Susanna and Bousdar Ahmed, Dina (2018) Height Error Correction for Shoe-Mounted Inertial Sensors Exploiting Foot Dynamics. Sensors. Multidisciplinary Digital Publishing Institute (MDPI). doi: 10.3390/s18030888. ISSN 1424-8220.

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Official URL: http://www.mdpi.com/1424-8220/18/3/888


Shoe-mounted inertial sensors are widespread deployed in satellite-denied scenarios because of the possibility to re-calibrate stepwise the estimated position. These re-calibrations, known as zero-velocity corrections, prevent an accumulated positioning error growth over time caused by the noise of current medium- and low-cost sensors. However, the error accumulated over time in the height estimation is still an issue under study. The objective of this article is to propose a height correction that is based on the dynamics of the foot. The presented algorithm analyzes the movement of the foot, which is different when walking on horizontal surfaces and stairs. The identification of horizontal surfaces and stairs is detailed in this article. For the assessment of the performance of the proposed height correction, a dataset of approximately 5 h recorded with 10 volunteers walking in a five-story building is employed. The error is evaluated using pre-defined ground truth points. We compare the height error estimated with and without applying the proposed correction and show that the height correction improves the vertical positioning accuracy up to 85%.

Item URL in elib:https://elib.dlr.de/119621/
Document Type:Article
Title:Height Error Correction for Shoe-Mounted Inertial Sensors Exploiting Foot Dynamics
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Kaiser, SusannaUNSPECIFIEDhttps://orcid.org/0000-0003-3210-6259UNSPECIFIED
Date:16 March 2018
Journal or Publication Title:Sensors
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In ISI Web of Science:Yes
Publisher:Multidisciplinary Digital Publishing Institute (MDPI)
Keywords:pedestrian; navigation; foot; drift; height; 3D; stairs; horizontal; ramps
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:other
DLR - Research area:Transport
DLR - Program:V - no assignment
DLR - Research theme (Project):V - no assignment
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Munoz Diaz-Ropero, Estefania
Deposited On:12 Apr 2018 11:22
Last Modified:02 Nov 2023 11:40

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