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Performance characterisation of foot-mountedZUPT-aided INSs and other related systems
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-3054-6413
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Electrical Engineering (EES), Signal Processing.ORCID iD: 0000-0002-2718-0262
2010 (English)In: Proc. IPIN2010, IEEE , 2010, 1-7 p.Conference paper, Published paper (Refereed)
Abstract [en]

Foot-mounted zero-velocity-update (ZUPT) aided inertial navigation system (INS) is a conceptually well known with publications in the area typically focusing on improved methods for filtering and addition of sensors and heuristics. Despite this, the performance characteristics, which would ultimately justify and give guidelines for such system modifications of ZUPT-aided INSs and other related systems, are in some aspects poorly documented. Unfortunately, the systems are non-linear, meaning that the performance is dependent on the system set-up, parameter setting, and the true trajectory. This complicates the process of evaluating performance and partially explains the few publications with detailed performance characterisation results. Therefore in this article we suggest and motivate methodologies for evaluating performance of ZUPT-aided INS and other related systems, we apply them to a suggested baseline set-up of the system, and study some aspects of the performance characteristics.

Place, publisher, year, edition, pages
IEEE , 2010. 1-7 p.
Keyword [en]
Equations, Hardware, Mathematical model, Measurement, Navigation, Sensors, Trajectory
National Category
Signal Processing
Identifiers
URN: urn:nbn:se:kth:diva-65268DOI: 10.1109/IPIN.2010.5646939ISI: 000345209100036Scopus ID: 2-s2.0-78650719417ISBN: 978-1-4244-5862-2 (print)OAI: oai:DiVA.org:kth-65268DiVA: diva2:483310
Conference
2010 INTERNATIONAL CONFERENCE ON INDOOR POSITIONING AND INDOOR NAVIGATION (IPIN), 15-17 SEPTEMBER 2010, ZÜRICH, SWITZERLAND
Note

© 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. QC 20120203

Available from: 2012-02-03 Created: 2012-01-25 Last updated: 2015-06-11Bibliographically approved

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