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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Abstract
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 |
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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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