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Inertial pedestrian localization with soft constraints based on biomechanical models

Bousdar Ahmed, Dina (2019) Inertial pedestrian localization with soft constraints based on biomechanical models. Indoor Positioning and Indoor Navigation Conference, 30 September - 03 Oktober 2019, Pisa, Italien.

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Kurzfassung

To this day, inertial localization systems are failing to incorporate biomechanical constraints in the position tracking process. The goal of this paper is to define biomechanical constraints on the attitude estimates of an inertial localization system. To that end, a biomechanical study of the human leg is carried out in order to model the attitude as a set of Gaussian distributions. The latter impose soft constraints on the attitude that can be optimally integrated in a Kalman filter. Therefore, the constraints are integrated in the respective unscented Kalman filters (UKF) of two inertial navigation systems (INS): a thigh-mounted INS and a foot-mounted INS. The effect of these constraints in the position estimation is evaluated with a dataset of, approximately, 5h. The results show that the biomechanical constraints improve the coherence of the roll and pitch estimated by the thigh-mounted localization system. The impact of these constraints is reflected in the height error of the thigh-mounted system, which is improved by, approximately, 82%. The biomechanical constraints make the roll and pitch of an inertial localization system coherent with respect to human motion. Nevertheless, the constraints do not improve the heading estimated by the localization systems.

elib-URL des Eintrags:https://elib.dlr.de/129838/
Dokumentart:Konferenzbeitrag (Vortrag)
Titel:Inertial pedestrian localization with soft constraints based on biomechanical models
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Bousdar Ahmed, DinaDina.BousdarAhmed (at) dlr.deNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Datum:2019
Referierte Publikation:Ja
Open Access:Nein
Gold Open Access:Nein
In SCOPUS:Nein
In ISI Web of Science:Nein
Status:veröffentlicht
Stichwörter:wearables, IMU, stance phase, human kinematics, leg model, positioning, dead reckoning, Denavit-Hartenberg,
Veranstaltungstitel:Indoor Positioning and Indoor Navigation Conference
Veranstaltungsort:Pisa, Italien
Veranstaltungsart:internationale Konferenz
Veranstaltungsdatum:30 September - 03 Oktober 2019
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Verkehr
HGF - Programmthema:Straßenverkehr
DLR - Schwerpunkt:Verkehr
DLR - Forschungsgebiet:V ST Straßenverkehr
DLR - Teilgebiet (Projekt, Vorhaben):V - NGC KoFiF (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Kommunikation und Navigation > Nachrichtensysteme
Hinterlegt von: Bousdar Ahmed, Dina
Hinterlegt am:25 Okt 2019 09:53
Letzte Änderung:06 Dez 2023 13:47

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