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Fusing the Navigation Information of Dual Foot-Mounted Zero-Velocity-Update-Aided Inertial Navigation Systems

Girisha, R and Prateek, GV and Hari, KVS and Handel, Peter (2014) Fusing the Navigation Information of Dual Foot-Mounted Zero-Velocity-Update-Aided Inertial Navigation Systems. In: International Conference on Signal Processing and Communications (SPCOM), JUL 22-25, 2014, Banaglore, INDIA.

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Abstract

A range constraint method viz. centroid method is proposed to fuse the navigation information of dual (right and left) foot-mounted Zero-velocity-UPdaTe (ZUPT)-aided Inertial Navigation Systems (INSs). Here, the range constraint means that the distance of separation between the position estimates of right and left foot ZUPT-aided INSs cannot be greater than a quantity known as foot-to-foot maximum separation. We present the experimental results which illustrate the applicability of the proposed method. The results show that the proposed method significantly enhances the accuracy of the navigation solution when compared to using two uncoupled foot-mounted ZUPT-aided INSs. Also, we compare the performance of the proposed method with the existing data fusion methods.

Item Type: Conference Proceedings
Additional Information: Copy right for this article belongs to the Copy right for this article belongs to the
Keywords: Inertial navigation; range constraint; Zero-velocity detection; Kalman filter
Department/Centre: Division of Electrical Sciences > Electrical Communication Engineering
Depositing User: Id for Latest eprints
Date Deposited: 30 Dec 2015 06:07
Last Modified: 30 Dec 2015 06:07
URI: http://eprints.iisc.ac.in/id/eprint/52974

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