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Non-GPS Navigation for Security Personnel and First Responders
Abstract
This paper introduces a “Personal Dead-reckoning” (PDR) navigation system for walking persons. The system is useful for monitoring the position of emergency responders inside buildings, where GPS is unavailable. The PDR system uses a six-axes Inertial Measurement Unit attached to the user's boot. The system's strength lies in the use of a technique known as Zero Velocity Update (ZUPT) that virtually eliminates the ill-effects of drift in the accelerometers. It works very well with different gaits, as well as on stairs, slopes, and generally on 3-dimensional terrain. The paper explains the PDR and presents extensive experimental results, which illustrate the utility and practicality of the system. Parts of this paper were presented at the 2006 International Joint Topical Meeting: “Sharing Solutions for Emergencies and Hazardous Environments ,” February 12–15, 2006, Salt Lake City, Utah, USA.
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Shoe-mounted inertial measurement units can reconstruct the foot's path in space and placement on ground.
“Yet another possibility is to use shoe-mounted inertial measurement units (combining accelerometers and gyroscopes) to reconstruct the foot’s path in space and placement on ground [14,15].”
From Human walking in the real world: interactions between terrain type, gait parameters, and energy expenditure (2021) · cites this paper as [14]
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Research works printed but not linked: 16
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Steven Eyobu, O., & Han, D. S. (2018) · Sensors · doi:10.3390/s18092892 · Cited by 259
Evaluation of zero-velocity detectors for foot-mounted inertial navigation systems
Skog, I., Nilsson, J.-O., & Handel, P. (2010) · 2010 International Conference on Indoor Positioning and Indoor Navigation · doi:10.1109/ipin.2010.5646936 · Cited by 213
Kowalsky, D. B., Rebula, J. R., Ojeda, L. V., Adamczyk, P. G., & Kuo, A. D. (2021) · PLOS One · doi:10.1371/journal.pone.0228682 · Cited by 106
Self-citationSmart Insole-Based Indoor Localization System for Internet of Things Applications
Chen, D., Cao, H., Chen, H., Zhu, Z., Qian, X., Xu, W., & Huang, M.-C. (2019) · IEEE Internet of Things Journal · doi:10.1109/jiot.2019.2915791 · Cited by 51
Metadata
- Authors
- Ojeda, L., & Borenstein, J.
- Venue
- Journal of Navigation
- Publisher
- Cambridge University Press (CUP)
- Published
- 2007-08-09
- Volume
- 60
- Issue
- 3
- Pages
- 391-407
- ISSN
- 0373-4633
- 1469-7785
- Cited by
- 226
- References
- 0
- Language
- en
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