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Tutorial: implementing a pedestrian tracker using inertial sensors

Fischer, Carl and Sukumar, Poorna Talkad and Hazas, Mike (2013) Tutorial: implementing a pedestrian tracker using inertial sensors. In: IEEE Pervasive Computing, 12 (2). pp. 17-27.

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Official URL: http://dx.doi.org/10.1109/MPRV.2012.16


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.

Item Type: Journal Article
Additional Information: Copyright of this article belongs to IEEE.
Keywords: Kalman Filtering; Inertial Navigation; Pedestrian Tracking; Pervasive Computing
Department/Centre: Division of Electrical Sciences > Computer Science & Automation
Depositing User: Id for Latest eprints
Date Deposited: 04 Jun 2013 09:45
Last Modified: 04 Jun 2013 09:45
URI: http://eprints.iisc.ac.in/id/eprint/46519

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