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Issue No. 02 - April-June (2013 vol. 12)
ISSN: 1536-1268
pp: 17-27
Carl Fischer , Lancaster University, UK
Poorna Talkad Sukumar , Indian Institute of Science
Mike Hazas , Lancaster University, UK
ABSTRACT
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. , pp. 17-27, April-June 2013, doi:10.1109/MPRV.2012.16
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