Volume 19, Issue 2 (2019)                   Modares Mechanical Engineering 2019, 19(2): 407-414 | Back to browse issues page

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Heidary S, Farhat J, Beigzadeh B. Pedestrian tracking by means of inertial navigation system . Modares Mechanical Engineering. 2019; 19 (2) :407-414
URL: http://journals.modares.ac.ir/article-15-23052-en.html
1- Mechanical Engineering Faculty, Iran University of Science & Technology, Tehran, Iran
2- Mechanical Engineering Faculty, Iran University of Science & Technology, Tehran, Iran , b_beigzadeh@iust.ac.ir
Abstract:   (666 Views)

New users such as pedestrians are added to navigation systems with developing lightweight, portable, low-cost technologies. The pedestrian navigation systems are currently applied in miscellaneous fields including medicine, sport, military services, animation, robotics, etc. This amount of use has attracted the attention of many scholars over the last few decades. In this paper, the paths of a firefighter, as a pedestrian, was estimated approximately by the help of an inertial measurement unit (IMU) and acceleration sensors. To reduce the measured errors and noises by the sensor, zero velocity update (ZUPT) method and Kalman filter are exploited in a pedestrian navigation system. Due to the fact that the error in blind navigation is divergent over time if the filter is not used, the use of conventional accelerometer sensors cannot produce a satisfactory result.
using the combined module of an inertial measurement sensor that includes accelerometer and gyroscope, it is possible to track the person’s position at any moment while the sensor is tracked on the shoe. The ability of ZUPT in navigation system has been discussed and interpreted by measuring a path using a sensor installed on a person’s shoe and comparing the results with the desired predetermined path.

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Received: 2018/06/29 | Accepted: 2018/10/7 | Published: 2019/02/2

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