Abstract
In this paper, we proposed a pedestrian dead reckoning (PDR) system consisting of an integration approach and a parametric approach. The integration approach is used for obtaining the position by integrating the inertial sensor signal, and the parametric approach is for estimating the stride through the gait characteristic and estimating the position through the estimated step length and walking direction. If the inertial sensor is attached to the shoe, the position can be estimated by the integration approach with a zero velocity update. The integration approach has a disadvantage that the position error increases very quickly if periodic position or velocity correction is not possible. Therefore, when the inertial sensor is mounted at another part, the position is generally estimated through the parametric approach. In the case of the parametric approach, because the step length is estimated through the parameter, there is a disadvantage that the step length estimation error becomes large when the walking motion is not normal. To overcome these drawbacks, we proposed a waist-mounted PDR system combining the integration approach and parametric approach. The performance of the proposed algorithm was verified by experiments.
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