Abstract
This paper describes a reduction method of integral error of body acceleration to estimate three-dimensional walking distance. The walking distance is derived by the integration of the three-dimensional body acceleration which is sensed by a sensor system attached on the foot. The sensor system is composed of an three-dimensional accelerometer, three gyros, and one geomagnetic sensor. Integral errors of the acceleration and the angular velocity are modified by considering the continuity of the velocity and the posture of the sensor system between the swing phase and the stance phase. One subject performed level walk, ascending and descending to verify the proposed method. The experimental results show that the application of the proposed method reduces the integral error of the acceleration and suggests the ability of non-restrictive estimation of three-dimensional walking distance.
