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Motion classification methods for personal navigation

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TLDR
In this paper, a personal navigation system including one or more sensors that sense motion of a human and output signals corresponding to the motion of the human and a human-motion-classification processing block is described.
Abstract
A personal navigation system including one or more sensors that sense motion of a human and output signals corresponding to the motion of the human and a human-motion-classification processing block that receives sensor data from the one or more sensors. The human-motion-classification processing block includes a Kalman filter processing block, an inertial navigation processing block, and a motion classification processing block. The Kalman filter processing block executes a Kalman filter that provides corrections to the motion classification processing block. The inertial navigation processing block receives input sensor data from the sensors and outputs a navigation solution. The motion classification processing block executes a motion classification algorithm that implements a step-time threshold between two types of motion, identifies a type of motion based on the received sensor data, and outputs a distance-traveled estimate to the Kalman filter processing block based on the identified type of motion.

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References
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TL;DR: In this article, the authors used at least one device supported by a user while the user is in locomotion on foot during an outing to automatically measure amounts of time taken by the user to complete respective distance intervals.
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