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Foot-mounted INS for everybody - an open-source embedded implementation

Nilsson, John-Olof and Skog, Isaac and Hari, KVS and Handel, P (2012) Foot-mounted INS for everybody - an open-source embedded implementation. In: 2012 IEEE/ION Position Location and Navigation Symposium (PLANS), 23-26 April 2012, Myrtle Beach, SC, USA.

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Official URL: http://dx.doi.org/10.1109/PLANS.2012.6236875


We present an open-source, realtime, embedded implementation of a foot-mounted, zero-velocity-update-aided inertial navigation system. The implementation includes both hardware design and software, uses off-the-shelf components and assembly methods, and features a standard USB interface. The software is written in C and can easily be modified to run user implemented algorithms. The hardware design and the software are released under permissive open-source licenses and production files, source code, documentation, and further resources are available at www.openshoe.org. The reproduction cost for a single unit is below $800, with the inertial measurement unit making up the bulk ($700). The form factor of the implementation is small enough for it to be integrated in the sole of a shoe. A performance evaluation of the system shows a position errors for short trajectories (<;100 [m]) of ± 0.2-1% of the traveled distance, depending on the shape of trajectory.

Item Type: Conference Proceedings
Publisher: IEEE
Additional Information: Copyright of this article belongs to IEEE.
Department/Centre: Division of Electrical Sciences > Electrical Communication Engineering
Date Deposited: 04 Apr 2013 10:24
Last Modified: 04 Apr 2013 10:24
URI: http://eprints.iisc.ac.in/id/eprint/46191

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