Foot-mounted Inertial Measurement Unit Research Articles

The effect of virtual reality treadmill training on obstacle crossing parameters in older adults

With increased age, walking without tripping requires greater cognitive demand. Therefore, it may be beneficial for training interventions to address and incorporate aspects of cognitive load. The purpose of this study was to compare a semi-immersive virtual reality treadmill training (VRTT) and conventional treadmill training (CTT) on obstacle clearance and trip hazard in older adults. Obstacle clearance parameters were measured with foot-mounted inertial measurement units (IMUs) and a Zeno pressure walkway. All data were processed and analyzed through custom Matlab scripts. Obstacle step height mean decreased (p = .003) in the lead limb following both training interventions. Additional significant changes were found in pre- and post-obstacle distance mean following both training interventions. Furthermore, significant correlations were found between demographic, cognitive, and functional mobility assessments and changes in dependent measures. The findings suggest that both the VRTT and CTT interventions may provide a reduction in trip risk in older adults, although through different methods.

Impact-Aware Foot Motion Reconstruction and Ramp/Stair Detection Using One Foot-Mounted Inertial Measurement Unit.

Motion reconstruction using wearable sensors enables broad opportunities for gait analysis outside laboratory environments. Inertial Measurement Unit (IMU)-based foot trajectory reconstruction is an essential component of estimating the foot motion and user position required for any related biomechanics metrics. However, limitations remain in the reconstruction quality due to well-known sensor noise and drift issues, and in some cases, limited sensor bandwidth and range. In this work, to reduce drift in the height direction and handle the impulsive velocity error at heel strike, we enhanced the integration reconstruction with a novel kinematic model that partitions integration velocity errors into estimates of acceleration bias and heel strike vertical velocity error. Using this model, we achieve reduced height drift in reconstruction and simultaneously accomplish reliable terrain determination among level ground, ramps, and stairs. The reconstruction performance of the proposed method is compared against the widely used Error State Kalman Filter-based Pedestrian Dead Reckoning and integration-based foot-IMU motion reconstruction method with 15 trials from six subjects, including one prosthesis user. The mean height errors per stride are 0.03±0.08 cm on level ground, 0.95±0.37 cm on ramps, and 1.27±1.22 cm on stairs. The proposed method can determine the terrain types accurately by thresholding on the model output and demonstrates great reconstruction improvement in level-ground walking and moderate improvement on ramps and stairs.

The Improved Method for Indoor 3D Pedestrian Positioning Based on Dual Foot-Mounted IMU System.

Micro-Electro-Mechanical System (MEMS) inertial sensors, characterized by their small size, low cost, and low power consumption, are commonly used in foot-mounted wearable pedestrian autonomous positioning systems. However, they also have drawbacks such as heading drift and poor repeatability. To address these issues, this paper proposes an improved pedestrian autonomous 3D positioning algorithm based on dual-foot motion characteristic constraints. Two sets of small-sized Inertial Measurement Units (IMU) are worn on the left and right feet of pedestrians to form an autonomous positioning system, each integrated with low-cost, low-power micro-inertial sensor chips. On the one hand, an improved adaptive zero-velocity detection algorithm is employed to enhance discrimination accuracy under different step-speed conditions. On the other hand, considering the dual-foot gait characteristics and the height difference feature during stair ascent and descent, horizontal position update algorithms based on dual-foot motion trajectory constraints and height update algorithms based on dual-foot height differences are, respectively, designed. These algorithms aim to re-correct the pedestrian position information updated at zero velocity in both horizontal and vertical directions. The experimental results indicate that in a laboratory environment, the 3D positioning error is reduced by 93.9% compared to unconstrained conditions. Simultaneously, the proposed approach enhances the accuracy, continuity, and repeatability of the foot-mounted IMU positioning system without the need for additional power consumption.

Concurrent validity and between-unit reliability of a foot-mounted inertial measurement unit to measure velocity during team sport activity

ABSTRACT The concurrent validity and between-unit reliability of a foot-mounted inertial measurement unit (F-IMU) was investigated during linear and change of direction running drills. Sixteen individuals performed four repetitions of two drills (maximal acceleration and flying 10 m sprint) and five repetitions of a multi-directional movement protocol. Participants wore two F-IMUs (Playermaker) and 10 retro-reflective markers to allow for comparisons to the criterion system (Qualisys). Validity of the F-IMU derived velocity was assessed via root-mean-square error (RMSE), 95% limits of agreement (LoA) and mean difference with 95% confidence interval (CI). Between-unit reliability was assessed via intraclass correlation (ICC) with 90% CI and 95% LoA. The mean difference for instantaneous velocity for all participants and drills combined was −0.048 ± 0.581 m ∙ s−1, the LoA were from −1.09 to −1.186 m ∙ s−1 and RMSE was 0.583 m ∙ s−1. The ICC ranged from 0.84 to 1, with LoA from −7.412 to 2.924 m ∙ s−1. Differences were dependent on the reference speed, with the greatest absolute difference (−0.66 m ∙ s−1) found at velocities above 7 m ∙ s−1. Between-unit reliability of the F-IMU ranges from good to excellent for all locomotor characteristics. Playermaker has good agreement with 3D motion capture for velocity and good to excellent between-unit reliability.

Pedestrian Localization with Stride-Wise Error Estimation and Compensation by Fusion of UWB and IMU Data.

Indoor positioning enables mobile machines to perform tasks (semi-)automatically, such as following an operator. However, the usefulness and safety of these applications depends on the reliability of the estimated operator localization. Thus, quantifying the accuracy of positioning at runtime is critical for the application in real-world industrial contexts. In this paper, we present a method that produces an estimate of the current positioning error for each user stride. To accomplish this, we construct a virtual stride vector from Ultra-Wideband (UWB) position measurements. The virtual vectors are then compared to stride vectors from a foot-mounted Inertial Measurement Unit (IMU). Using these independent measurements, we estimate the current reliability of the UWB measurements. Positioning errors are mitigated through loosely coupled filtering of both vector types. We evaluate our method in three environments, showing that it improves positioning accuracy, especially in challenging conditions with obstructed line of sight and sparse UWB infrastructure. Additionally, we demonstrate the mitigation of simulated spoofing attacks on UWB positioning. Our findings indicate that positioning quality can be judged at runtime by comparing user strides reconstructed from UWB and IMU measurements. Our method is independent of situation- or environment-specific parameter tuning, and as such represents a promising approach for detecting both known and unknown positioning error states.

An adaptive threshold method with error correction for pedestrian inertial navigation system

As an effective method for reducing accumulated errors in pedestrian navigation systems based on foot-mounted inertial measurement unit, the zero velocity update is widely used in global navigation satellite system signal rejection environments that require accurate zero velocity detection. However, the detection accuracy of the classical fixed threshold method is not satisfactory under complex gaits. In this paper, an adaptive threshold method with error correction is proposed to increase the detection accuracy without adding sensors. In this method, an adaptive threshold model based on gait intensity, which can dynamically adjust the zero velocity detection threshold under complex gaits, is established. Afterward, error correction is suggested to identify and correct misjudgments in zero velocity detection by analyzing the zero velocity interval in one gait cycle. We build an actual pedestrian inertial navigation system to evaluate the proposed method. The experimental results demonstrate that the average zero velocity detection accuracy of the proposed method under complex gaits of different people is 98.67%, and the end-to-end positioning error is about 0.53% of the total distance during long-distance movement.

Gait Variability to Phenotype Common Orthopedic Gait Impairments Using Wearable Sensors.

Mobility impairments are a common symptom of age-related degenerative diseases. Gait features can discriminate those with mobility disorders from healthy individuals, yet phenotyping specific pathologies remains challenging. This study aims to identify if gait parameters derived from two foot-mounted inertial measurement units (IMU) during the 6 min walk test (6MWT) can phenotype mobility impairment from different pathologies (Lumbar spinal stenosis (LSS)-neurogenic diseases, and knee osteoarthritis (KOA)-structural joint disease). Bilateral foot-mounted IMU data during the 6MWT were collected from patients with LSS and KOA and matched healthy controls (N = 30, 10 for each group). Eleven gait parameters representing four domains (pace, rhythm, asymmetry, variability) were derived for each minute of the 6MWT. In the entire 6MWT, gait parameters in all four domains distinguished between controls and both disease groups; however, the disease groups demonstrated no statistical differences, with a trend toward higher stride length variability in the LSS group (p = 0.057). Additional minute-by-minute comparisons identified stride length variability as a statistically significant marker between disease groups during the middle portion of 6WMT (3rd min: p ≤ 0.05; 4th min: p = 0.06). These findings demonstrate that gait variability measures are a potential biomarker to phenotype mobility impairment from different pathologies. Increased gait variability indicates loss of gait rhythmicity, a common feature in neurologic impairment of locomotor control, thus reflecting the underlying mechanism for the gait impairment in LSS. Findings from this work also identify the middle portion of the 6MWT as a potential window to detect subtle gait differences between individuals with different origins of gait impairment.

UTUG: An unsupervised Timed Up and Go test for Parkinson’s disease

Inertial measurement units (IMU) are used diagnostically in the movement analysis of Parkinson’s disease (PD) patients, allowing an objective way to assess biomechanical motion and gait parameters. The Timed Up and Go (TUG) is a standardized clinical gait test widely used in the monitoring of patient fall risk and disease progression. Gait tests performed at home have been applied as part of movement monitoring protocols, enabling a link to clinical supervised reference assessments. However, unsupervised gait tests in a real-world data context present challenges, mainly regarding the interaction between participants and the recording system. Therefore, we developed and evaluated a novel algorithmic pipeline called unsupervised TUG (uTUG). Our contribution is the automatic detection and decomposition of TUG tests into their subphases, performed at home with no clinician supervision. In contrast to related studies, we used only foot-mounted IMU with no additional markers or manual annotations, allowing the detection of TUG test frames for subsequent classification by machine learning Support Vector Machine (SVM), Random Forest (RF) and Naïve Bayes Classifier (NBC) algorithms. The evaluation comprised 96 daily recordings of real-world gait data and 81 clinical visits accumulating 300 real TUG test samples processed from 32 PD patients. A prefiltering sensitivity of 98.6%, followed by the precision of 90.6%, recall of 88.5%, and Fl-score of 89.6% for TUG test detection were achieved using RF for the automatic classification in continuous real-world gait data. Thus, uTUG simplifies the test for patients and avoids manual annotations for clinicians, automatically detecting TUG tests.

Estimation of Foot Trajectory and Stride Length during Level Ground Running Using Foot-Mounted Inertial Measurement Units.

Zero-velocity assumption has been used for estimation of foot trajectory and stride length during running from the data of foot-mounted inertial measurement units (IMUs). Although the assumption provides a reasonable initialization for foot trajectory and stride length estimation, the other source of errors related to the IMU’s orientation still remains. The purpose of this study was to develop an improved foot trajectory and stride length estimation method for the level ground running based on the displacement of the foot. Seventy-nine runners performed running trials at 5 different paces and their running motions were captured using a motion capture system. The accelerations and angular velocities of left and right feet were measured with two IMUs mounted on the dorsum of each foot. In this study, foot trajectory and stride length were estimated using zero-velocity assumption with IMU data, and the orientation of IMU was estimated to calculate the mediolateral and vertical distance of the foot between two consecutive midstance events. Calculated foot trajectory and stride length were compared with motion capture data. The results show that the method used in this study can provide accurate estimation of foot trajectory and stride length for level ground running across a range of running speeds.

Examination of a foot mounted IMU-based methodology for a running gait assessment.

Gait assessment is essential to understand injury prevention mechanisms during running, where high-impact forces can lead to a range of injuries in the lower extremities. Information regarding the running style to increase efficiency and/or selection of the correct running equipment, such as shoe type, can minimize the risk of injury, e.g., matching a runner's gait to a particular set of cushioning technologies found in modern shoes (neutral/support cushioning). Awareness of training or selection of the correct equipment requires an understanding of a runner's biomechanics, such as determining foot orientation when it strikes the ground. Previous work involved a low-cost approach with a foot-mounted inertial measurement unit (IMU) and an associated zero-crossing-based methodology to objectively understand a runner's biomechanics (in any setting) to learn about shoe selection. Here, an investigation of the previously presented ZC-based methodology is presented only to determine general validity for running gait assessment in a range of running abilities from novice (8 km/h) to experienced (16 km/h+). In comparison to Vicon 3D motion tracking data, the presented approach can extract pronation, foot strike location, and ground contact time with good [ICC(2,1) > 0.750] to excellent [ICC(2,1) > 0.900] agreement between 8–12 km/h runs. However, at higher speeds (14 km/h+), the ZC-based approach begins to deteriorate in performance, suggesting that other features and approaches may be more suitable for faster running and sprinting tasks.

Does biologically categorised training alter the perceived exertion and neuromuscular movement profile of academy soccer players compared to traditional age-group categorisation?

ABSTRACT The individual response to load is multifactorial and complicated by transient temporal changes in biological maturation. The period surrounding peak height velocity exposes potentially “fragile” individuals to systematic, age-related increases in training loads. Bio-banding allows practitioners to manage the biological diversity and align training to the individual development needs . This study explores the acute impact of maturation on neuromuscular performance and perceived intensity through comparing both chronological and bio-banded training sessions. 55 male soccer players (mean ± SD; age 13.8 ± 1.4 years) were recruited from an EPPP academy. Following a warm-up and standardised sub-maximal run (30–15IFT), players competed in five bouts of 5-min 6v6 small-sided games (SSGs) before repeating the standardised sub-maximal run. The sessions were repeated on three occasions with chronological SSGs and the same with bio-banded SSGs wearing foot-mounted inertial measurement units (PlayerMakerTM) with differential ratings of perceived exertion used to quantify internal loads. Mixed linear modelling indicated maturity-specific pre–post differences in neuromuscular response, stride length and cadence having contrasting responses pre- (reduced) and post-PHV (increased), and larger changes in post sessions stiffness for pre- (∼18.6 kN·m−1) and circa-PHV (∼12.1 kN·m− 1) players. Secondly, there were small to large differences in neuromuscular response (RSI, stride length, stiffness, and contact time) and perceptions of intensity between conditions, with bio-banding generally reducing pre–post changes. Bio-banding may therefore offer a mechanism to prescribe maturity-specific training loads which may help to alleviate the impact of repeated exposure to high-intensity activity, thus reducing injury risk whilst promoting long-term player development. Highlights Utilising a sub-maximal running protocol (30–15IFT) with foot mounted accelerometers can detect maturity specific responses to football specific training activity, which aligns with subjective perceptions of intensity. Chronologically derived small-sided games elicit different acute responses between players of varying maturity status, which is somewhat negated when bio-banded small-sided games are used instead. Bio-banding training sessions may offer practitioners a practical way of managing maturity-specific trainings load to reduce injury risk and promote long-term players development.

A multi-club analysis of the locomotor training characteristics of elite female soccer players

ABSTRACT Objective Quantifying differences in locomotor characteristics of training between two competition levels and between training days within elite female soccer players. Methods Foot-mounted inertial measurement unit (Playermaker) data were collected from 293 players from three Women’s Super League (WSL; n = 76) and eight Women’s Championship (WC; n = 217) teams over a 28-week period. Data were analysed using partial least squares correlation analysis to identify relative variable importance and linear mixed effects models to identify magnitude of effects. Results WSL players performed more high-speed running distance (HSR; >5.29 m∙s−1), sprint distance (SpD; >6.26 m∙s−1), acceleration (ACC; >3 m∙s−2) and deceleration (DEC; <-3 m∙s−2) distance than WC players. The largest difference between WSL and WC in HSR and HSR per minute occurred on MD-4, (354.7 vs. 190.29 m and 2.8 vs. 1.7 m∙min−1). On MD-2, WSL players also covered greater SpD (44.66 vs. 12.42 m), SpD per minute (0.38 vs. 0.11 m∙min−1) and HSR per minute (1.67 vs. 0.93 m∙min−1). Between training days both WSL and WC teams reduced HSR and SpD but not ACC and DEC distance from MD-4 to MD-2, with MD-4 the highest training day of the week. Conclusion MD-4 is a key training day discriminating between competitive level. HSR and SpD volume and intensity is tapered in WSL and WC players, however there is less clear taper of ACC or DEC. As such, WC teams could increase the volume and intensity of HSR on MD-4 to mimic locomotor activities of those at a higher standard.

A Method for Autonomous Multi-Motion Modes Recognition and Navigation Optimization for Indoor Pedestrian.

The indoor navigation method shows great application prospects that is based on a wearable foot-mounted inertial measurement unit and a zero-velocity update principle. Traditional navigation methods mainly support two-dimensional stable motion modes such as walking; special tasks such as rescue and disaster relief, medical search and rescue, in addition to normal walking, are usually accompanied by running, going upstairs, going downstairs and other motion modes, which will greatly affect the dynamic performance of the traditional zero-velocity update algorithm. Based on a wearable multi-node inertial sensor network, this paper presents a method of multi-motion modes recognition for indoor pedestrians based on gait segmentation and a long short-term memory artificial neural network, which improves the accuracy of multi-motion modes recognition. In view of the short effective interval of zero-velocity updates in motion modes with fast speeds such as running, different zero-velocity update detection algorithms and integrated navigation methods based on change of waist/foot headings are designed. The experimental results show that the overall recognition rate of the proposed method is 96.77%, and the navigation error is 1.26% of the total distance of the proposed method, which has good application prospects.

Locomotor and technical characteristics of female soccer players training: exploration of differences between competition standards

ABSTRACT Objectives To (i) quantify the differences in locomotor and technical characteristics between different drill categories in female soccer and (ii) explore the training drill distributions between different standards of competition. Methods Technical (ball touches, ball releases, high-speed ball releases) and locomotor data (total distance, high-speed running distance [>5.29 m∙s−1]) were collected using foot-mounted inertial measurement units from 458 female soccer players from three Women’s Super League (WSL; n = 76 players), eight Women’s Championship (WC; n = 217) and eight WSL Academy (WSLA; n = 165) teams over a 28-week period. Data were analysed using general linear mixed effects. Results Across all standards, the largest proportion of time was spent in technical (TEC) (WSL = 38%, WC = 28%, WSLA = 29%) and small-sided extensive games (SSGe) (WSL = 20%, WC = 31%, WSLA = 30%) drills. WSL completed more TEC and tactical (TAC) training whilst WC and WSLA players completed more SSGe and possession (POS) drills. Technical drills elicited the highest number of touches, releases and the highest total distance and high-speed activity. Position-specific drills elicited the lowest number of touches and releases and the lowest total distance. When the technical and locomotor demand of each drill were made relative to time, there were limited differences between drills, suggesting drill duration was the main moderating factor. Conclusion Findings provide novel understanding of the technical and locomotor demands of different drill categories in female soccer. These results can be used by coaches and practitioners to inform training session design.

Real-time walking gait terrain classification from foot-mounted Inertial Measurement Unit using Convolutional Long Short-Term Memory neural network

We propose a novel online real-time gait terrain detection algorithm from the measurements of a foot-mounted Inertial Measurement Unit (IMU), using a shallow cascaded Convolutional and Long Short-Term Memory neural network (CNN-LSTM). Gait data is acquired from healthy subjects walking in an unstructured environment that includes level ground, stair ascent and stair descent. The CNN-LSTM subject-independent classifier is trained to continuously detect the terrain from the time series data, invariant to IMU initial pose.Our results show that the classifier is able to correctly detect the terrain on data from unseen subjects, in less than 90ms from toe-off (f1-score >0.89), improving further its classification performance in less than 135ms from toe-off (f1-score >0.98). Furthermore, we present a novel capability with this classifier to timely detect terrain transitions, switching from the starting to the final terrain during midswing. The CNN-LSTM classifier is therefore suitable to be used in assistive devices, timely adjusting to the different gait kinematics, using a single foot-mounted IMU.

Validation of Running Gait Event Detection Algorithms in a Semi-Uncontrolled Environment.

The development of lightweight portable sensors and algorithms for the identification of gait events at steady-state running speeds can be translated into the real-world environment. However, the output of these algorithms needs to be validated. The purpose of this study was to validate the identification of running gait events using data from Inertial Measurement Units (IMUs) in a semi-uncontrolled environment. Fifteen healthy runners were recruited for this study, with varied running experience and age. Force-sensing insoles measured normal foot-shoe forces and provided a standard for identification of gait events. Three IMUs were mounted to the participant, two bilaterally on the dorsal aspect of the foot and one clipped to the back of each participant’s waistband, approximating their sacrum. The identification of gait events from the foot-mounted IMU was more accurate than from the sacral-mounted IMU. At running speeds <3.57 m s−1, the sacral-mounted IMU identified contact duration as well as the foot-mounted IMU. However, at speeds >3.57 m s−1, the sacral-mounted IMU overestimated foot contact duration. This study demonstrates that at controlled paces over level ground, we can identify gait events and measure contact time across a range of running skill levels.

Quantifying volume and high-speed technical actions of professional soccer players using foot-mounted inertial measurement units.

AimsThe aims of the study were two-fold: i) examine the validity and reliability of high-speed kicking actions using foot-mounted inertial measurement unit’s (IMU), ii) quantify soccer players within-microcycle and inter-positional differences in both the frequency and speed of technical actions.MethodsDuring the in-season phase (25 weeks) of the UK domestic season, 21 professional soccer player ball releases, high-speed ball releases and ball release index were analysed. Pearson product-moment correlation coefficient and confidence intervals were used to determine the validity between the systems, whilst a general linear mixed model analysis approach was used to establish estimated marginal mean values for total ball releases, high-speed ball releases and ball release index.ResultsGood concurrent validity was observed for ball release velocity and high-speed kicks against a high-speed camera (r2- 0.96, CI 0.93–0.98). Ball releases, high-speed ball releases and ball release index all showed main effects for fixture proximity (p>0.001), playing positions (p>0.001) and across different training categories (p>0.001). The greatest high-speed ball releases were observed on a match-day (MD)+1 (17.6 ± 11.9; CI- 16.2 to 19) and MD-2 (16.8 ± 15; CI- 14.9 to 18.7), with MD+1 exhibiting the highest number of ball releases (161.1 ± 51.2; CI- 155.0 to 167.2) and ball release index (145.5 ± 45.2; CI- 140.1 to 150.9) across all fixture proximities. Possessions (0.3 ± 0.9; CI- 0.3 to 0.4) and small-sided games (1.4 ± 1.6; CI- 1.4 to 1.5), had the lowest values for high-speed ball releases with technical (6.1 ± 7.2; CI- 5.7 to 6.6) and tactical (10.0 ± 10.5; CI- 6.9 to 13.1) drills showing the largest high-speed ball releases.ConclusionsThe present study provides novel information regarding the quantification of technical actions of professional soccer players. Insights into absolute and relative frequency and intensity of releases in different drill types, provide practitioners with valuable information on technical outputs that can be manipulated during the process of planning training programmes to produce desired outcomes. Both volume and speed of ball release actions should be measured, when monitoring the technical actions in training according to fixture proximity, drill type and player position to permit enhanced training prescription.

Stride Lengths during Maximal Linear Sprint Acceleration Obtained with Foot-Mounted Inertial Measurement Units

Inertial measurement units (IMUs) fixed to the lower limbs have been reported to provide accurate estimates of stride lengths (SLs) during walking. Due to technical challenges, validation of such estimates in running is generally limited to speeds (well) below 5 m·s−1. However, athletes sprinting at (sub)maximal effort already surpass 5 m·s−1 after a few strides. The present study aimed to develop and validate IMU-derived SLs during maximal linear overground sprints. Recreational athletes (n = 21) completed two sets of three 35 m sprints executed at 60, 80, and 100% of subjective effort, with an IMU on the instep of each shoe. Reference SLs from start to ~30 m were obtained with a series of video cameras. SLs from IMUs were obtained by double integration of horizontal acceleration with a zero-velocity update, corrected for acceleration artefacts at touch-down of the feet. Peak sprint speeds (mean ± SD) reached at the three levels of effort were 7.02 ± 0.80, 7.65 ± 0.77, and 8.42 ± 0.85 m·s−1, respectively. Biases (±Limits of Agreement) of SLs obtained from all participants during sprints at 60, 80, and 100% effort were 0.01% (±6.33%), −0.75% (±6.39%), and −2.51% (±8.54%), respectively. In conclusion, in recreational athletes wearing IMUs tightly fixed to their shoes, stride length can be estimated with reasonable accuracy during maximal linear sprint acceleration.

Stride Lengths during Maximal Linear Sprint Acceleration Obtained with Foot-Mounted Inertial Measurement Units

Stride Lengths during Maximal Linear Sprint Acceleration Obtained with Foot-Mounted Inertial Measurement Units

A Reconstruction Filter for Saturated Accelerometer Signals Due to Insufficient FSR in Foot-Mounted Inertial Navigation System

In pedestrian inertial navigation, one possible placement of Inertial Measurement Units (IMUs) is on a footwear. This placement allows to limit the accumulation of navigation errors due to the bias drift of inertial sensors and is generally a preferable placement of sensors to achieve the highest precision of pedestrian inertial navigation. However, inertial sensors mounted on footwear experience significantly higher accelerations and angular velocities (10s of g and 1000s of deg/sec) during regular pedestrian activities than during more conventional navigation tasks, which could exceed Full Scale Range (FSR) of many commercial-off-the-shelf IMUs, therefore degrading accuracy of pedestrian navigation systems. This paper proposes a reconstruction filter to mitigate localization error in pedestrian navigation due to insufficient FSR of inertial sensors. The proposed reconstruction filter approximates immeasurable accelerometer’s signals with a triangular function and estimates the size of the triangles using a Gaussian Process (GP) regression. To evaluate performance of pedestrian navigation systems enhanced by the proposed reconstruction filter, we conducted two series of indoor pedestrian navigation experiments with a VectorNav VN-200 IMU and an Analog Device ADIS16497-3 IMU, which have accelerometer’s FSR of ±16 g and ±40 g, respectively. In the first series of experiments, forces experienced by the foot-mounted IMUs did not exceed the FSRs of the sensors, while in the second series, the forces surpassed the FSR of the VN-200 IMU and saturated the accelerometer’s readings. The saturated accelerometer’s readings reduced the accuracy of estimated positions using the VN-200 by <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">${1.34}\times $ </tex-math></inline-formula> and <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">${3.37}\times $ </tex-math></inline-formula> along horizontal and vertical directions. When applying our proposed reconstruction filter to the saturated accelerometer’s measurements, the navigation accuracy along horizontal and vertical directions was increased by 5% and 50%, respectively, as compared to using unreconstructed signals.