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Integration of foot-mounted inertial sensors into a Bayesian location estimation framework

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2 Author(s)
Krach, B. ; German Aerosp. Center DLR, Inst. of Commun. & Navig., Wessling ; Robertson, P.

An algorithm for integrating foot-mounted inertial sensors into a Bayesian location estimation framework is presented. The proposed integration scheme is based on a cascaded estimation architecture. A lower Kalman filter is used to estimate the step-wise change of position and direction of the foot. These estimates are used in turn as measurements in an upper particle filter, which is able to incorporate nonlinear map-matching techniques. Experimental data is used to verify the proposed algorithm.

Published in:

Positioning, Navigation and Communication, 2008. WPNC 2008. 5th Workshop on

Date of Conference:

27-27 March 2008