Tutorial: Implementing a Pedestrian Tracker Using Inertial Sensors

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 rec...

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Bibliographic Details
Published in:IEEE pervasive computing 2013-04, Vol.12 (2), p.17-27
Main Authors: Fischer, Carl, Talkad Sukumar, Poorna, Hazas, Mike
Format: Article
Language:English
Subjects:
Accelerometers
Gyroscopes
inertial navigation
Kalman filtering
Legged locomotion
Mobile radio mobility management
Navigation
pedestrian tracking
pervasive computing
Sensors
Tracking
Tutorials
Ubiquitous computing
Wearable computers
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Summary: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.
ISSN:1536-1268
1558-2590
DOI:10.1109/MPRV.2012.16