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Pedestrian Tracking with Shoe-Mounted Inertial Sensors
November/December 2005 (vol. 25 no. 6)
pp. 38-46
ASCII Text
x 
 
Eric Foxlin, "Pedestrian Tracking with Shoe-Mounted Inertial Sensors," IEEE Computer Graphics and Applications, vol. 25, no. 6, pp. 38-46, November/December, 2005.
 
 
BibTex
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@article{ 10.1109/MCG.2005.140,
author = {Eric Foxlin},
title = {Pedestrian Tracking with Shoe-Mounted Inertial Sensors},
journal ={IEEE Computer Graphics and Applications},
volume = {25},
number = {6},
issn = {0272-1716},
year = {2005},
pages = {38-46},
doi = {http://doi.ieeecomputersociety.org/10.1109/MCG.2005.140},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
x 
 
TY - MGZN
JO - IEEE Computer Graphics and Applications
TI - Pedestrian Tracking with Shoe-Mounted Inertial Sensors
IS - 6
SN - 0272-1716
SP38
EP46
EPD - 38-46
A1 - Eric Foxlin,
PY - 2005
KW - inertial
KW - navigation
KW - Tracking
KW - pedestrian
KW - dead reckoning
KW - kalman filtering
KW - magnetometers
KW - MEMS
KW - calibration
KW - GPS
VL - 25
JA - IEEE Computer Graphics and Applications
ER -
 
Eric Foxlin, Isense
One of the main obstacles to the real-world deployment of location-sensitive wearable computing, including mixed reality, is that current position-tracking technologies require an instrumented, marked, or premapped environment, which is impractical in many applications. This article presents a pedestrian inertial navigation device called NavShoe, which can work in arbitrary unprepared indoor/outdoor environments. It consists of a miniature low-power inertial/magnetometer package tucked into the shoelaces of one foot, wirelessly coupled to a PDA that runs software to fuse inertial, geomagnetic, and optional GPS measurements to derive an optimal navigation pose solution. Novel algorithms are presented to accurately calibrate the compass for compensation of hard-iron and soft-iron distortions, and then align it to true north using GPS transfer alignment. Options are discussed for alternative aiding sensors indoors such as computer vision, map-correlation, and local landmark sensors. Finally, an approach is discussed to use the foot-mounted precision attitude reference as an alignment source for precision 6-DOF trackers of head-mounted and handheld implements such as augmented reality displays.

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Index Terms:
inertial, navigation, Tracking, pedestrian, dead reckoning, kalman filtering, magnetometers, MEMS, calibration, GPS
Citation:
Eric Foxlin, "Pedestrian Tracking with Shoe-Mounted Inertial Sensors," IEEE Computer Graphics and Applications, vol. 25, no. 6, pp. 38-46, Nov.-Dec. 2005, doi:10.1109/MCG.2005.140
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