f²IMU-R: Pedestrian Navigation by Low-Cost Foot-Mounted Dual IMUs and Interfoot Ranging

IEEE Transactions on Control Systems Technology（2022）

引用 9|浏览23

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摘要

Foot-mounted inertial sensors become popular in many indoor or GPS-denied applications, including but not limited to medical monitoring, gait analysis, soldier, and first responder positioning. However, the foot-mounted inertial navigation relies largely on the aid of zero velocity update (ZUPT) and has encountered inherent problems, such as heading drift. This article implements a pedestrian navi...

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关键词

Navigation,Distance measurement,Earth,Observability,Gyroscopes,Ellipsoids,Foot

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