A Laboratory Testbed for Self-Contained Navigation

Presented a customizable laboratory testbed for the sensor fusion of multiple Inertial Measurement Units (IMU) and SOund Navigation And Ranging sensors (SONAR), for self-contained navigation experiments. We described the architecture and communication interfaces for the simultaneous collection of data from two IMUs and two SONARs, however, parallel acquisition from a larger variety of sensors is also feasible. Representative human gait patterns are experimentally acquired to demonstrate the functionality of the testbed.