Detecting Turns And Correcting Headings Using Low-Cost INS

• Main Authors: Muhammad, Mohd Nazrin, Salcic, Zoran, Wang, Kevin I-Kai
• Format: Article
• Language: English
• Published: The Royal Institute Of Navigation 2018
• Subjects: T Technology (General); TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utem.edu.my/id/eprint/24009/2/DETECTING%20TURNS%20AND%20CORRECTING%20HEADINGS%20USING%20LOW-COST%20INS.pdf; http://eprints.utem.edu.my/id/eprint/24009/; https://www.cambridge.org/core/journals/journal-of-navigation/article/detecting-turns-and-correcting-headings-using-lowcost-ins/2C358FC7F28DBFE48171C3BDF740F3B6; https://doi.org/10.1017/S0373463317000443

Unlike industrial-grade Inertial Navigation Sensors (INSs) that can provide credible tracking performance, more affordable consumer-grade low-cost INSs produce drifts in heading angles and positions that result in a poor tracking accuracy. Researchers have proposed drift correction methods that attempt to attenuate the drifts when walking straight along the dominant directions is detected. While determining the type of a pedestrian's walk is essential before the heading corrections are made, the current detection techniques heavily rely on thresholding. This paper proposes a novel threshold-less method to detect turns in walking by using pelvic rotation and correct the heading angle based on consumer-grade INSs. The experiments indicate the proposed turn detector and heading correction methods produce very good results which can be applied for future pedestrian tracking, activity recognition or rehabilitation.