In Situ Heading Drift Correction for Human Position Tracking Using Foot-Mounted Inertial/Magnetic Sensors
Loading...
Authors
Bachmann, Eric
Calusdian, James
Hodgson, Eric
Yun, Xiaoping
Subjects
Advisors
Date of Issue
2012-05
Date
May 14-18, 2012
Publisher
Language
Abstract
This paper presents a heading drift correction
method and experimental results for position tracking of
human movement based on the use of foot-mounted
inertial/magnetic sensor modules. A position tracking
algorithm was previously developed, which incorporated a zero
velocity update technique for correcting accelerometer drift.
Previous experiments indicated the presence of a persistent
heading drift in the estimated position. In this paper, a simple
method for correcting this drift is presented. The method
requires the user to walk over a closed loop path with the footmounted
sensor module. Assuming a constant sensor bias for
this initial walk, the resulting position error is then used to
accomplish an in situ correction for position estimates during
future walks. Experimental results validate the effectiveness of
the drift correction method and show a significant
improvement in position tracking accuracy. Accuracy is
determined based on the final position estimates following
walks of 100 and 400 meters. Estimated distance traveled
averages within 0.2% of actual distance traveled and distance
from the actual position averages within 0.28% of actual
distance traveled.
Type
Article
Description
2012 IEEE International Conference on Robotics and Automation
RiverCentre, Saint Paul, Minnesota, USA
May 14-18, 2012
Series/Report No
Department
Electrical and Computer Engineering
Organization
Identifiers
NPS Report Number
Sponsors
Funder
Format
Citation
Distribution Statement
Rights
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.