Experimental Validation of Foot to Foot Range Measurements in Pedestrian Tracking
نویسندگان
چکیده
A pedestrian tracking system using inertial sensors mounted on both feet is presented. Significant accuracy improvements are demonstrated, compared to single shoe tracking, by using sonar foot-to-foot range measurements to constrain heading drift. A single complementary Kalman filter fuses data from both inertial measurement units and the sonar sensor. The system is composed of commercial and custom hardware. Experimental results collected over long durations and distances are presented.
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