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Optimal Sampling Frequency and Bias Error Modelling for Foot-Mounted IMUs

Munoz Diaz, Estefania and Heirich, Oliver and Khider, Mohammed and Robertson, Patrick (2013) Optimal Sampling Frequency and Bias Error Modelling for Foot-Mounted IMUs. Fourth IPIN International Conference, 28-31 Oct 2013, France.



The use of foot-mounted inertial measurement units (IMUs) has shown promising results in providing accurate human odometry as a component of accurate indoor pedestrian navigation. The specifications of these sensors, such as the sampling frequency have to meet requirements related to human motion. We investigate the lowest usable sampling frequency: To do so, we evaluate the frequency distribution of different human motion like crawling, jumping or walking in different scenarios such as escalators, lifts, on carpet or grass, and with different footwear. These measurements indicate that certain movement patterns, as for instance going downstairs, upstairs, running or jumping contain more high frequency components. When using only a low sampling rate this high frequency information is lost. Hence, it is important to identify the lowest usable sampling frequency and sample with it if possible. We have made a set of walks to illustrate the resulting odometries at different frequencies, after applying an Unscented Kalman Filter (UKF) using Zero Velocity Updates. The odometry error is highly dependent on the drift of the individual accelerometers and gyroscopes. In order to obtain better odometry it is necessary to perform a detailed analysis of the sensor noise processes. We resorted to computing the Allan variance for three different IMU chipsets of various quality specification. From this we have derived a bias model for the UKF and evaluated the benefit of applying this model to a set of real data from walk.

Item URL in elib:https://elib.dlr.de/84402/
Document Type:Conference or Workshop Item (Speech)
Title:Optimal Sampling Frequency and Bias Error Modelling for Foot-Mounted IMUs
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Munoz Diaz, Estefaniaestefania.munoz (at) dlr.deUNSPECIFIED
Heirich, Oliveroliver.heirich (at) dlr.deUNSPECIFIED
Khider, Mohammedmohammed.khider (at) dlr.deUNSPECIFIED
Robertson, Patrickpatrick.robertson (at) dlr.deUNSPECIFIED
Date:28 October 2013
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:Indoor Positioning, Navigation, Inertial Measurement Unit (IMU), Allan Variance, Bias Error Modeling
Event Title:Fourth IPIN International Conference
Event Location:France
Event Type:international Conference
Event Dates:28-31 Oct 2013
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication and Navigation
DLR - Research area:Raumfahrt
DLR - Program:R KN - Kommunikation und Navigation
DLR - Research theme (Project):R - Projekt GalileoNAV (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Munoz Diaz-Ropero, Estefania
Deposited On:22 Oct 2013 11:39
Last Modified:31 Jul 2019 19:42

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