Abstract
In this article, we present a novel tight coupling inertial localization system which simultaneously processes the measurements of two inertial measurement units (IMUs) mounted on the leg, namely the upper thigh and the front part of the foot. Moreover, the proposed system exploits motion constraints of each leg link; that is, the thigh and the foot. To derive these constraints, we carry out a motion tracking experiment to collect both ground truth data and inertial measurements from IMUs mounted on the leg. The performance of the tight coupling system is assessed with a data set of approximately 10 h. The evaluation shows that the average 2D-position error of the proposed tight coupling system is at least 50% better than the average 2D-position error of two state-of-the-art systems, whereas the average height error of the tight coupling system is at least 75% better than the average height error of the two state-of-the-art systems. In this work, we improve the accuracy of the position estimation by introducing biomechanical constraints in an inertial localization system. This article allows to observe, for the first time, heading errors of an inertial localization system by using only inertial measurements and without the need for using maps or repeating totally or partially the walked trajectory.
Highlights
The safety of first responders like firefighters or police officers during emergency responses is key to guarantee their success in keeping us all safe
We evaluate the performance of the tight coupling system and compare it to the performance of two state-of-the-art inertial localization systems based on only one inertial sensor
The thigh inertial localization system, which is an inertial localization system based on a thigh-mounted inertial sensor [25], see Figure 1, and the foot inertial localization system, which is an inertial localization system based on a foot-mounted inertial sensor, see Figure 1 [3]
Summary
The safety of first responders like firefighters or police officers during emergency responses is key to guarantee their success in keeping us all safe. To this day, the safety of first responders relies mainly on strict operation protocols. We can use inertial localization systems to detect if a firefighter collapsed during the emergency response. In order to analyze the motion of the leg, we carry out an experiment to simultaneously measure: Inertial data, that is, acceleration and turn rate, of each of the leg links of one leg. The ground truth is measured with a camera-based motion tracking system We only make use of the data from the thigh and the foot mounting frames
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