Self-contained Position Tracking of Human Movement Using Small Inertial/Magnetic Sensor Modules
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Authors
Yun, Xiaoping
Bachmann, Eric R.
Moore, Hyatt
Calusdian, James
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Date of Issue
2007-04
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Abstract
Numerous applications require a self-contained
personal navigation system that works in indoor and outdoor
environments, does not require any infrastructure support, and
is not susceptible to jamming. Posture tracking with an array of
inertial/magnetic sensors attached to individual human limb
segments has been successfully demonstrated. The "sourceless"
nature of this technique makes possible full body posture
tracking in an area of unlimited size with no supporting
infrastructure. Such sensor modules contain three orthogonally
mounted angular rate sensors, three orthogonal linear
accelerometers and three orthogonal magnetometers. This
paper describes a method for using accelerometer data
combined with orientation estimates from the same modules to
calculate position during walking and running. The periodic
nature of these motions includes short periods of zero foot
velocity when the foot is in contact with the ground. This pattern
allows for precise drift error correction. Relative position is
calculated through double integration of drift corrected
accelerometer data. Preliminary experimental results for
various types of motion including walking, side stepping, and
running.
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Conference Paper
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Citation
2007 IEEE International Conference on
Robotics and Automation
Roma, Italy, 10-14 April 2007
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.