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dc.contributor.advisorYun, Xiaoping
dc.contributor.authorCalusdian, James
dc.dateSeptember 2010
dc.date.accessioned2012-08-22T15:32:46Z
dc.date.available2012-08-22T15:32:46Z
dc.date.issued2010-09
dc.identifier.urihttp://hdl.handle.net/10945/10557
dc.description.abstractThis work describes the development and testing of a personal navigation system (PNS) for use during normal walking on level ground surfaces. A shoe-worn miniature inertial/magnetic measurement unit (IMMU), which is comprised of accelerometers, magnetometers, and angular rate sensors, provides the measurement data for the PNS algorithm. The well-known strapdown navigation algorithm is adapted for use in the PNS, which further incorporates the error correction technique commonly referred to as zero-velocity updates. A gait-phase detection algorithm estimates instances of foot stance and swing and establishes the appropriate times to apply the velocity error correction technique within the PNS algorithm. A main contribution of the work described herein pertains to the design and analysis of a quaternion-based complementary filter for estimation of three-dimensional attitude of the IMMU. This complementary filter algorithm builds on an earlier threedimensional attitude estimator known as the Factored Quaternion Algorithm (FQA). The complementary filter is further tailored for the PNS application through the use of an adaptive gain switching strategy based on knowledge of the gait phase. A novel and incidental effort described here pertains to the design and implementation of a locomotion interface for a virtual environment using the shoe-worn IMMU. In this application, one IMMU is worn on each foot. A set of foot gestures was conceived and a custom software program was developed to decode the user's foot motions. This unique interface gives the user freedom to navigate through a virtual environment in any direction he/she chooses for those applications utilizing large-screen displays.en_US
dc.description.urihttp://archive.org/details/apersonalnavigat1094510557
dc.format.extentxxiv, 209 p. : col. ill. ; 28 cm.en_US
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.rightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. As such, it is in the public domain, and under the provisions of Title 17, United States Code, Section 105, may not be copyrighted.en_US
dc.subject.lcshInertial navigation.en_US
dc.titleA personal navigation system based on inertial and magnetic field measurementsen_US
dc.contributor.departmentElectrical Engineering
dc.subject.authorpersonal navigationen_US
dc.subject.authoraccelerometeren_US
dc.subject.authormagnetometeren_US
dc.subject.authorangular rate sensoren_US
dc.subject.authorquaternionen_US
dc.subject.authorcomplementary filteren_US
dc.subject.authorzero-velocity updateen_US
dc.subject.authorgait-phase detection algorithmen_US
etd.thesisdegree.namePh.D. in Electrical Engineeringen_US
etd.thesisdegree.levelDoctoralen_US
etd.thesisdegree.disciplineElectrical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate School (U.S.)en_US


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