A Novel Robust Step Detection Algorithm for Foot-Mounted IMU
A Novel Robust Step Detection Algorithm for Foot-Mounted IMU
复制标题
一种新型稳健的脚装 IMU 步数检测算法
DOI：
10.1109/jsen.2020.3030771
复制
发表时间：
2021-02-15
影响因子：
4.3
通讯作者：
Zhang, Yonggang
中科院分区：
文献类型：
--
作者：
Liu, Xin;Li, Ning;Zhang, Yonggang
步长检测是车载行人航位推算系统的重要组成部分。针对不同步进方式和偶然性干扰导致的误检问题，提出了一种鲁棒步进检测算法。该算法利用安装在用户脚上的惯性传感器的数据来检测步数和零速度相位。它包括两部分：一种新的抗故障检测算法和一种新的零速度检测方法，分别用于减少步骤的过检和漏检。现场测试表明，该方法对不同人不同步长模式下不同运动速度下的鲁棒性较好，在所有运动模式下的平均准确率为99.94%，显著优于传统估计方法的步长检测精度。
Step detection is very important for the foot-mounted Pedestrian Dead Reckoning (PDR) system. To deal with the false detection caused by variant stepping modes and occasional disturbance, a novel robust step detection algorithm is proposed. The proposed algorithm detects the number of steps and zero-velocity phase using data from inertial sensors mounted on the user’s foot. It includes two parts: a novel anti-fault detection algorithm and a novel zero-velocity detection method, which are used to reduce the over-detection and miss-detection of steps, respectively. Field tests show that the proposed approach is robust under varying motion speeds in different step modes for different persons and the average accuracy of the proposed algorithm is 99.94% in all motion modes, which significantly exceeds conventional estimation approaches in terms of step detection accuracy.