Spacing Vector and Varying Distance Constrained Positioning Using Dual Feet-Mounted IMUs

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Journal Title

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Volume Title

A1 Alkuperäisartikkeli tieteellisessä aikakauslehdessä

Date

2024

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Mcode

Degree programme

Language

en

Pages

11

Series

IEEE Transactions on Instrumentation and Measurement, Volume 73

Abstract

The zero velocity update (ZUPT) offers an effective correction method for sensor drift in indoor positioning systems using foot-mounted inertial measurement units (IMUs). However, the heading drift is still a problem in positioning systems using IMUs. This paper develops methods for positioning using two foot-mounted IMUs to solve this problem. The proposed method is based on the use of a time-varying distance constraint and a spacing-vector constraint. Our methods are experimentally compared against other distance-constraint-based methods using a dataset that we collected for this purpose. The results show that our method has better control of the separation between the trajectories of the feet.

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Publisher Copyright: © 1963-2012 IEEE.

Keywords

distance constraint, dual IMUs, foot mounted, indoor positioning, spacing-vector constraint

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Citation

Ma, X & Sarkka, S 2024, ' Spacing Vector and Varying Distance Constrained Positioning Using Dual Feet-Mounted IMUs ', IEEE Transactions on Instrumentation and Measurement, vol. 73 . https://doi.org/10.1109/TIM.2024.3472776