A High Precision Reference Data Set for Pedestrian Navigation using Foot-Mounted Interial Sensors

Abstract

In this paper we will describe a data collection methodology and reference data set that can be used by the indoor navigation community to verify and improve algorithms based on foot mounted inertial sensors. The data set is collected using a high precision optical reference system that is traditionally used in the film industry for human motion capturing or in specialist applications such as analysis of human motion in sports and medical rehabilitation. The data provides synchronous 6 degrees of freedom inertial measurement sensor readings from a foot mounted MEMS sensor array as well as the high resolution data from the optical tracking system providing location and orientation ground truth. We will also provide the results of algorithms that identify the rest phase during the human gait cycle which is an essential part of pedestrian dead reckoning systems for positioning.