Data Fusion of Dual Foot-Mounted INS to Reduce the Systematic Heading Drift

Prateek, G and Girisha, R and Hari, KVS and Hari, Peter (2013) Data Fusion of Dual Foot-Mounted INS to Reduce the Systematic Heading Drift. In: 4th International Conference on Intelligent Systems, Modelling and Simulation (ISMS), JAN 29-31, 2013 , Bangkok, Thailand, pp. 208-213.

PDF isms_prateek_2013.pdf - Published Version Restricted to Registered users only Download (565kB) | Request a copy

Abstract

In this report, we investigate the problem of applying a range constraint in order to reduce the systematic heading drift in a foot-mounted inertial navigation system (INS) (motion-tracking). We make use of two foot-mounted INS, one on each foot, which are aided with zero-velocity detectors. A novel algorithm is proposed in order to reduce the systematic heading drift. The proposed algorithm is based on the idea that the separation between the two feet at any given instance must always lie within a sphere of radius equal to the maximum possible spatial separation between the two feet. A Kalman filter, getting one measurement update and two observation updates is used in this algorithm.

Item Type:	Conference Proceedings
Series.:	Proceedings International Conference on Intelligent Systems Modelling Simulation
Publisher:	IEEE
Additional Information:	4th International Conference on Intelligent Systems, Modelling and Simulation (ISMS), Bangkok, THAILAND, JAN 29-31, 2013
Keywords:	Pedestrian Navigation System; Inertial Measurement Unit; Kalman Filter; Indoor Navigation; Systematic Heading Drift
Department/Centre:	Division of Electrical Sciences > Electrical Communication Engineering
Date Deposited:	10 Sep 2013 05:37
Last Modified:	10 Sep 2013 05:40
URI:	http://eprints.iisc.ac.in/id/eprint/47087

Actions (login required)

View Item