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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Abstract

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
Publication:	IEEE Pervasive Computing
Publisher:	IEEE Computer Society
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
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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