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Pedestrian Tracking Solution Combining an Impulse Radio Handset Transmitter with an Ankle-Mounted Inertial Measurement Unit
Joint Authors
Youssef, Joe
Godin, Christelle
Denis, Benoît
Lesecq, Suzanne
Source
International Journal of Navigation and Observation
Issue
Vol. 2012, Issue 2012 (31 Dec. 2012), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-07-31
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
We address the indoor tracking problem by combining an Impulse Radio-Ultra-Wideband handset with an ankle-mounted Inertial Measurement Unit embedding an accelerometer and a gyroscope.
The latter unit makes possible the detection of the stance phases to overcome velocity drifts.
Regarding radiolocation, a time-of-arrival estimator adapted to energy-based receivers is applied to mitigate the effects of dense multipath profiles.
A novel quality factor associated with this estimator is also provided as a function of the received signal-to-noise ratio, enabling us to identify outliers corresponding to obstructed radio links and to scale the covariance matrix of radiolocation measurements.
Finally, both radio and inertial subsystems are loosely-coupled into one single navigation solution relying on a specific extended Kalman filter.
In the proposed fusion strategy, processed inertial data control the filter state prediction whereas Combined Time Differences Of Arrival are formed as input observations.
These combinations offer low computational complexity as well as a unique filter structure over time, even after removing outliers.
Experimental results obtained in a representatively harsh indoor environment emphasize the complementarity of the two technologies and the relevance of the chosen fusion method while operating with low-cost, noncollocated, asynchronous, and heterogeneous sensors.
American Psychological Association (APA)
Youssef, Joe& Denis, Benoît& Godin, Christelle& Lesecq, Suzanne. 2012. Pedestrian Tracking Solution Combining an Impulse Radio Handset Transmitter with an Ankle-Mounted Inertial Measurement Unit. International Journal of Navigation and Observation،Vol. 2012, no. 2012, pp.1-15.
https://search.emarefa.net/detail/BIM-484281
Modern Language Association (MLA)
Youssef, Joe…[et al.]. Pedestrian Tracking Solution Combining an Impulse Radio Handset Transmitter with an Ankle-Mounted Inertial Measurement Unit. International Journal of Navigation and Observation No. 2012 (2012), pp.1-15.
https://search.emarefa.net/detail/BIM-484281
American Medical Association (AMA)
Youssef, Joe& Denis, Benoît& Godin, Christelle& Lesecq, Suzanne. Pedestrian Tracking Solution Combining an Impulse Radio Handset Transmitter with an Ankle-Mounted Inertial Measurement Unit. International Journal of Navigation and Observation. 2012. Vol. 2012, no. 2012, pp.1-15.
https://search.emarefa.net/detail/BIM-484281
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-484281