A position tracking system using MARG sensors
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Authors
Um, Miryung
Subjects
Advisors
Yun, Xiaoping
Date of Issue
2007-12
Date
Publisher
Monterey, California. Naval Postgraduate School
Language
Abstract
The objective of this thesis was to further the development of a personal position tracking system using MARG sensors. This work advanced the method by which distance and heading were calculated of an individual wearing one MARG sensor on his/her foot when moving about under normal walking conditions. Data was collected from the foot-mounted sensor while walking a straight-line path, a square path, and climbing stairs. The corresponding data from these activities was then used in a Matlab program to determine a computed position. The Matlab program employed a technique that reset the accelerometer error during the stance phase of the gait cycle. It also utilized a gait detection algorithm based on the magnitude of angular rate and the number of samples above/below threshold to establish the periods of the stance phase and the swing phase. Experimental results from various testing scenarios showed that it is feasible to track position of a person.
Type
Thesis
Description
Series/Report No
Department
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
xvi, 59 p. : col. ill. ;
Citation
Distribution Statement
Approved for public release; distribution is unlimited.