Design and Implementation of Indoor Tracking System Using Inertial Sensor

摘要

An indoor tracking system is essential in finding directional guidance and localization in which Inertial Measuring Units (IMUs) plays a vital role in detecting the person's movement. In this proposed work, to track a moving person an economical three-dimensional (3D) indoor tracking system using foot-mounted Micro-Electro-Mechanical System (MEMS) inertial sensors is presented. Accelerometer and gyroscope form the basic inertial measuring unit, where the accelerometer is used to determine the acceleration rate, thereby obtaining the velocity and position of the person. The gyroscope is used to measure the angular rate of the person. MEMS sensor (MPU-6050) mounted in the foot contain both accelerometer and gyroscope. This sensor measures the position depending on the person's movement and angular rate. Altitude and heading reference system algorithm is used to track the accurate position of the person by creating 3D animation view using MATLAB.