Indoor Positioning Methods Based on Dual Feet-Mounted IMUs With Distance Constraints
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A4 Artikkeli konferenssijulkaisussa
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2023
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en
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6
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Proceedings of the 2023 13th International Conference on Indoor Positioning and Indoor Navigation, IPIN 2023, International Conference on Indoor Positioning and Indoor Navigation
Abstract
The zero velocity update (ZUPT) offers an effective correction method for the sensor drift in indoor positioning systems using foot-mounted inertial measurement units (IMUs). However, the heading drift is still problematic in positioning systems using a single IMU. This paper studies methods for positioning using two foot-mounted IMUs. We propose two methods for this purpose, which are based on the use of a distance constraint and a spacing-vector constraint, respectively. Our methods are compared against other distance-constraint-based methods. The results reveal that our methods are able to achieve a better distribution concentration than the other methods, and they better control the separation between the trajectories of the feet.Description
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Ma, X & Särkkä, S 2023, Indoor Positioning Methods Based on Dual Feet-Mounted IMUs With Distance Constraints . in Proceedings of the 2023 13th International Conference on Indoor Positioning and Indoor Navigation, IPIN 2023 . International Conference on Indoor Positioning and Indoor Navigation, IEEE, International Conference on Indoor Positioning and Indoor Navigation, Nuremberg, Germany, 25/09/2023 . https://doi.org/10.1109/IPIN57070.2023.10332511