liu.seSearch for publications in DiVA
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Probabilistic Stand Still Detection using Foot Mounted IMU
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2010 (English)In: Proceedings of the 13th International Conference on Information Fusion, 2010Conference paper, Published paper (Refereed)
Abstract [en]

We consider stand still detection for indoor localization based on observations from a foot-mounted inertial measurement unit (IMU). The main contribution is a statistical framework for stand-still detection, which is a fundamental step in zero velocity update (ZUPT) to reduce the drift from cubic to linear in time. First, the observations are transformed to a test statistic having non-central chi-square distribution during zero velocity. Second, a hidden Markov model is used to describe the mode switching between stand still, walking, running, crawling and other possible movements. The resulting algorithm computes the probability of being in each mode, and it is easily extendable to a dynamic navigation framework where map information can be included. Results of first mode probability estimation, second map matching without ZUPT and third step length estimation with ZUPT are provided.

Place, publisher, year, edition, pages
2010.
Keyword [en]
Indoor localization, Stand still detection, HMM, ZUPT
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-63411ISBN: 978-0-9824438-1-1 (print)OAI: oai:DiVA.org:liu-63411DiVA: diva2:379362
Conference
13th International Conference on Information Fusion, Edinburgh, United Kingdom, 26-29 July, 2010
Available from: 2010-12-20 Created: 2010-12-17 Last updated: 2013-07-09Bibliographically approved

Open Access in DiVA

fulltext(315 kB)901 downloads
File information
File name FULLTEXT01.pdfFile size 315 kBChecksum SHA-512
1fa0eb0acdc550aa90c99adef05505e897ab6af36b8adb8eb4f17114c9fa2b3a1bbc5b7c0aadd1386db692bf6bdf4b4193c7cdd7f44205cb467c83ed335318f0
Type fulltextMimetype application/pdf

Authority records BETA

Callmer, JonasTörnqvist, DavidGustafsson, Fredrik

Search in DiVA

By author/editor
Callmer, JonasTörnqvist, DavidGustafsson, Fredrik
By organisation
Automatic ControlThe Institute of Technology
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 901 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

isbn
urn-nbn

Altmetric score

isbn
urn-nbn
Total: 264 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf