Title :
A personal navigation system using MEMS-based high-density ground reaction sensor array and inertial measurement unit
Author :
Guo, Q. ; Bebek, O. ; Cavusoglu, M.C. ; Mastrangelo, C.H. ; Young, D.J.
Author_Institution :
Univ. of Utah, Salt Lake City, UT, USA
Abstract :
This paper describes a prototype personal navigation system developed for position tracking under GPS denied environments by employing a commercial inertial measurement unit (IMU) and a MEMS-based ground reaction sensor array (GRSA). The GRSA is used to provide zero-velocity updating for the IMU. A Kalman filter further estimates the IMU output bias during the zero-velocity period, which is then removed from the IMU´s subsequent output signals to improve the navigation accuracy. Seven 10-minute square-loop walking tests were performed to achieve an in-plane navigation accuracy ranging from 0.4 meter to 3.4 meter with a vertical position accuracy of approximately 1 meter. A further improved performance over an extended navigation time is expected through enhancing the GRSA sensitivity.
Keywords :
Global Positioning System; Kalman filters; density measurement; microsensors; position measurement; sensor arrays; velocity measurement; GPS; GRSA; IMU; Kalman filter; MEMS-based high-density ground reaction sensor array; distance 0.4 m to 3.4 m; inertial measurement unit; personal navigation system; position tracking; square-loop walking testing; time 10 min; zero-velocity period; Accuracy; Arrays; Electrodes; Navigation; Prototypes; Sensors; Trajectory; IMU bias; Kalman filter; Personal navigation; ZUPTing; capacitance-to-voltage converter; dead reckoning; ground reaction sensor array; inertial navigation; pedestrian navigation; pressure sensor array; tactile sensor array;
Conference_Titel :
Solid-State Sensors, Actuators and Microsystems (TRANSDUCERS), 2015 Transducers - 2015 18th International Conference on
Conference_Location :
Anchorage, AK
DOI :
10.1109/TRANSDUCERS.2015.7181113