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Tutorial: Implementing a Pedestrian Tracker Using Inertial Sensors
April-June 2013 (vol. 12 no. 2)
pp. 17-27
Carl Fischer, Lancaster University, UK
Poorna Talkad Sukumar, Indian Institute of Science
Mike Hazas, Lancaster University, UK
Shoe-mounted inertial sensors offer a convenient way to track pedestrians in situations where other localization systems fail. This tutorial outlines a simple yet effective approach for implementing a reasonably accurate tracker. This Web extra presents the Matlab implementation and a few sample recordings for implementing the pedestrian inertial tracking system using an error-state Kalman filter for zero-velocity updates (ZUPTs) and orientation estimation.
Index Terms:
Tutorials,Gyroscopes,Accelerometers,Legged locomotion,Sensors,Navigation,Ubiquitous computing,Wearable computers,Mobile radio mobility management,Tracking,pedestrian tracking,Tutorials,Gyroscopes,Accelerometers,Legged locomotion,Sensors,Navigation,Ubiquitous computing,Wearable computers,Mobile radio mobility management,Tracking,pervasive computing,inertial navigation,Kalman filtering
Citation:
Carl Fischer, Poorna Talkad Sukumar, Mike Hazas, "Tutorial: Implementing a Pedestrian Tracker Using Inertial Sensors," IEEE Pervasive Computing, vol. 12, no. 2, pp. 17-27, April-June 2013, doi:10.1109/MPRV.2012.16
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