A System for Pedestrian Indoor Localization with Foot Mounted IMU and Additional Sensors

We present a foot-mounted sensor system for pedestrian indoor and combined indoor/outdoor positioning. The proposed method is using a zero-velocity update scheme implemented as an Unscented Kalman filter. The technique employs a quaternion orientation representation and its performance is assessed using a custom developed sensor unit. The designed filter is tested against a more conventional Extended KF formulation and with respect to different filter state realizations, stance still detection mechanism and different filter parameters. Additionally, the estimation results are provided for the system augmented with magnetic field measurements, barometric pressure sensors and some absolute referencing system such as passive RFID tags and GPS for outdoor segments.