Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 08, 2016 - June 11, 2016
This paper proposes a pedestrian self-localization system using propagated vibrations on lower limbs. The goal is to establish a navigation system with high accuracy that is convenient to use wherever we are. The system utilizes a conventional inertial navigation system (INS). In order to cancel the integration errors from inertial measurement unit (IMU), we focus on the human gait cycle. Based on the tendency that the ankle’s velocity is close to zero in the mid stance, we use the zero velocity update (ZUPT). To estimate the mid stance times, we construct a new algorithm that combines the piezo sensor and the IMU. As a result of the self-localization in a short path indoor, there is an average position error of 0.88 m in the x-y plane and 1.26 m in the z direction. These errors can be reduced by constructing more accurate correction models.
