Abstract
non-restricted estimate of three-dimensional walking distance during indoor locomotion is discussed. The walking distance is derived by the integration of the three-dimensional acceleration of subject's foot. A sensor system which is composed of an tree-dimensional accelerometer, three gyros, and one geomagnetic sensor is attached on the foot. Integral errors of the acceleration and the angular velocity are modified to keep the continuity of the velocity and the posture of the sensor system between the swing phase and the stance phase. One subject performed walking experiment including level walk and ascending in an office building to verify the proposed method. The experimental results show that the estimation error of 3D location is less than 10 [10%] and the application of the proposed method improves the precise measurement of 3D walking distance.
