[Lab Meeting] May 12th, 2008 (Ekker): On foot navigation : continuous step calibration using both complementary recursive prediction and adaptive Kalm

Title:
On foot navigation : continuous step calibration
using both complementary recursive prediction
and adaptive Kalman filtering
From : ION 2000
Abstract:
Dead reckoning for on-foot navigation applications cannot
be computed by double integration of the antero-posterior
acceleration. The main reasons are the alignment problem
and the important sensor systematic errors in comparison
to human walking speed. However, raw accelerometer
signal can furnish helpful information on steps length as a
function of the walk dynamics. As stride length naturally
varies, a continuous adaptation is necessary. In the
absence of satellite observable, a recursive prediction
process is used. When GPS signal is available, adaptive
Kalman filtering is processed to update both the stride
length and the recursive prediction parameters. This paper
shows the different necessary stages for individual stride
calibration as basis of global on-foot dead reckoning
applications. This study lies within the framework of a
project that aims at analyzing the daily activity of people.
Precise continuous positioning, but not necessarily in real-
time conditions, appears of evident interest. The global
procedure and several test results are presented.
Link