Department of Electrical Engineering, University of Ulsan, Namgu, Ulsan 680-749, Korea.
Sensors (Basel). 2011;11(8):8045-59. doi: 10.3390/s110808045. Epub 2011 Aug 15.
In an inertial sensor-based pedestrian navigation system, the position is estimated by double integrating external acceleration. A new algorithm is proposed to reduce z axis position (height) error. When a foot is on the ground, a foot angle is estimated using accelerometer output. Using a foot angle, the inclination angle of a road is estimated. Using this road inclination angle, height difference of one walking step is estimated and this estimation is used to reduce height error. Through walking experiments on roads with different inclination angles, the usefulness of the proposed algorithm is verified.
在基于惯性传感器的行人导航系统中，通过对外部加速度进行双重积分来估计位置。本文提出了一种新的算法来减小 z 轴位置（高度）误差。当脚着地时，使用加速度计输出估计脚的角度。利用脚的角度，估计道路的倾斜角。利用这个道路倾斜角，估计一步走的高度差，并利用这个估计值来减小高度误差。通过在具有不同倾斜角的道路上进行行走实验，验证了所提出算法的有效性。
