Electrical Engineering Department, University of Ulsan, Ulsan 44610, Korea.
Sensors (Basel). 2018 Jan 15;18(1):230. doi: 10.3390/s18010230.
A walking distance estimation algorithm for cane users is proposed using an inertial sensor unit attached to various positions on the cane. A standard inertial navigation algorithm using an indirect Kalman filter was applied to update the velocity and position of the cane during movement. For quadripod canes, a standard zero-velocity measurement-updating method is proposed. For standard canes, a velocity-updating method based on an inverted pendulum model is proposed. The proposed algorithms were verified by three walking experiments with two different types of canes and different positions of the sensor module.
提出了一种使用安装在拐杖上不同位置的惯性传感器单元来估算拐杖使用者行走距离的算法。应用了一种使用间接卡尔曼滤波器的标准惯性导航算法，以在运动过程中更新拐杖的速度和位置。对于四足拐杖，提出了一种标准的零速度测量更新方法。对于标准拐杖，提出了一种基于倒立摆模型的速度更新方法。通过三个使用两种不同类型的拐杖和传感器模块不同位置的行走实验对所提出的算法进行了验证。
