A zero velocity intervals detection algorithm based on sensor fusion for indoor navigation systems

DOI

10.2991/eeeis-16.2017.96How to use a DOI?

Keywords

ZUPT; zero velocity intervals detection; sensors fusion; LRT.

Abstract

The Zero-velocity Update (ZUPT)-aided Extended Kalman Filter(EKF) algorithm is commonly deployed to resolve trajectories of pedestrians. To use the ZUPT, it is necessary to detect zero velocity intervals reliably. Existing zero velocity intervals detection algorithms cannot provides good performance at high gait speeds or stair climbing. In this paper, we propose a novel zero velocity intervals detection approach based on sensors fusion. In this method, the measurements of accelerometer, gyroscope and pressure sensor are combined together to detect the zero velocity intervals. A new detector is derived based on the general likelihood ratio test (LRT) framework. The test results show that the new detector performs much better than the angular rate energy (ARE) detector.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Ming Ma
AU  - Qian Song
AU  - Yang-Huan Li
AU  - Zhi-Min Zhou
PY  - 2016/12
DA  - 2016/12
TI  - A zero velocity intervals detection algorithm based on sensor fusion for indoor navigation systems
BT  - Proceedings of the 2nd Annual International Conference on Electronics, Electrical Engineering and Information Science (EEEIS 2016)
PB  - Atlantis Press
SP  - 780
EP  - 786
SN  - 2352-5401
UR  - https://doi.org/10.2991/eeeis-16.2017.96
DO  - 10.2991/eeeis-16.2017.96
ID  - Ma2016/12
ER  -