Dual Foot-Mounted Localisation Scheme Employing a Minimum-Distance-Constraint Kalman Filter Under Coloured Measurement Noise
Year: 2024
Type: article
Abstract: This study proposes a dual foot-mounted localisation scheme with a minimum-distance-constraint (MDC) Kalman filter (KF) for human localisation under coloured measurement noise (CMN). The dual foot-mounted localisation employs inertial measurement unit (IMUs), one on each foot, and is intended for human navigation. The KF under CMN (cKF) is then derived from the data-fusion model of the proposed navigation scheme. Finally, the MDC condition is designed and an MDC-cKF model is proposed to reduce the error in the IMUs. Empirical results showed that the proposed method effectively improves the navigation accuracy from that of MDC-KF, which neglects the effect of CMN.
Source: Micromachines
DOI: 10.3390/mi15111346
Authors: Yuan Xu, Jingwen Yu, Xiangpeng Wang, Teng Li, Mingxu Sun
Institution: University of Jinan
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,955
OpenAlex ID: W4403940331