Knuth, taylor;
Groves, Paul;
(2024)
Terrain Based Parameter Optimization for Zero-Velocity Up-date Inertial Based Navigation Solutions.
In:
Engineering Proceedings.
MDPI: Noordwijk, The Netherlands.
(In press).
Preview |
Text
Groves_Revisionv1 - Terrain Based Parameter Optimization for Zero-Velocity Update Inertial Based Navigation Solutions.pdf Download (986kB) | Preview |
Abstract
This paper demonstrates the benefits of adapting Zero-Velocity Update (ZVU) algorithms in foot-mounted pedestrian inertial navigation by finely tuning the algorithm to account for the type of terrain over which the pedestrian travels. Conventional ZVU algorithms for foot-mounted inertial navigation are designed for indoor use and do not account for differences from various terrains. Different terrains affect the natural pedestrian gait and how zero-velocity intervals (ZVIs) are identified. By tuning the algorithm to account for accelerometer and gyro-scope magnitude and walking cycle duration across four terrains (concrete, grass, pebble and sand) the accuracy is improved up to 31.04%, dependent on the terrain, and viable for outdoor use.
| Type: | Proceedings paper |
|---|---|
| Title: | Terrain Based Parameter Optimization for Zero-Velocity Up-date Inertial Based Navigation Solutions |
| Event: | European Navigation Conference 2024 |
| Location: | ESA ESTEC, Noordwijk, The Netherlands |
| Dates: | 22 May 2024 - 24 May 2024 |
| Open access status: | An open access version is available from UCL Discovery |
| Publisher version: | https://www.mdpi.com/journal/engproc |
| Language: | English |
| Additional information: | Copyright: © 2024 by the authors. Submitted for possible open access publication under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/license s/by/4.0/). |
| Keywords: | Zero-velocity update; pedestrian inertial navigation; terrain-dependent |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Civil, Environ and Geomatic Eng |
| URI: | https://discovery-pp.ucl.ac.uk/id/eprint/10200170 |
Archive Staff Only
 |
View Item |
