Numerous applications require a self-containedpersonal navigation system that works in indoor and outdoorenvironments, does not require any infrastructure support, andis not susceptible to jamming. Posture tracking with an array ofinertial/magnetic sensors attached to individual human limbsegments has been successfully demonstrated. The "sourceless"nature of this technique makes possible full body posturetracking in an area of unlimited size with no supportinginfrastructure. Such sensor modules contain three orthogonallymounted angular rate sensors, three orthogonal linearaccelerometers and three orthogonal magnetometers. Thispaper describes a method for using accelerometer datacombined with orientation estimates from the same modules tocalculate position during walking and running. The periodicnature of these motions includes short periods of zero footvelocity when the foot is in contact with the ground. This patternallows for precise drift error correction. Relative position iscalculated through double integration of drift correctedaccelerometer data. Preliminary experimental results forvarious types of motion including walking, side stepping, andrunning.
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