DEAD-RECKONING DRIFT COMPENSATION USING PERSONAL GAIT

摘要

Raw dead reckoning data is obtained from an inertial measurement unit (IMU)worn by a user. Drift in the raw data iscompensated for by detecting a gait of the user and phase of that gait, andconstraining the position of the IMU to lie within correspondingbounds as the IMU moves. The bounds depend on the bodily geometry of the userand the detected gait phase. The raw orientationdata of the IMU may be also corrected for drift in a similar way. Gait andgait phase may be detected by sensors in an energy harvesterworn around the knee, for example. Drift in the IMU measurements can becompensated for without depending on a GPS signal oron the earth's magnetic field.