부산대학교 도서관

High accuracy in indoor navigation with foot-mounted sensors attracts a lot of researchers in the last decades. Most indoor positioning schemes based on strap-down inertial navigation can only be used for normal walking. This paper present a 3D foot-mounted inertial navigation system, which can meet the challenge of the multi-gaits. During walking, the foot will have a contact with the ground in every step, in which time, the velocity of foot is zero. The correctness of zero velocity detection is important for drift removing in pedestrian dead-reckoning based inertial pedestrian indoor position systems. Previous algorithm of zero velocity detection is hard to handle the gaits variety. In this paper, by analyzing the inertial data from different modes of motion, a heuristic zero-velocity detection algorithm is designed. The algorithm can accurately detect the zero-velocity time of pedestrians among a variety of gaits. Then the speed and the displacement are updated in the Kalman Filter. Moreover, the barometer is fused with accelerometer for the calculation of height and achievement the 3D trajectory tracking. The experimental results show that the average distance error is 2.59%, the average distance error is 5.78% during running and the average height error is about 0.2m when the pedestrian is going stairs.