Journal ArticleDOI
Zero-Velocity Detection—An Algorithm Evaluation
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TLDR
This paper investigates the problem of detecting-time epochs when zero-velocity updates can be applied in a foot-mounted inertial navigation (motion-tracking) system and derives a new LRT detector that performs marginally better than the angular rate energy detector.Abstract:
In this paper, we investigate the problem of detecting-time epochs when zero-velocity updates can be applied in a foot-mounted inertial navigation (motion-tracking) system. We examine three commonly used detectors: the acceleration-moving variance detector, the acceleration-magnitude detector, and the angular rate energy detector. We demonstrate that all detectors can be derived within the same general likelihood ratio test (LRT) framework, given the different prior knowledge about the sensor signals. Further, by combining all prior knowledge, we derive a new LRT detector. Subsequently, we develop a methodology to evaluate the performance of the detectors. Employing the developed methodology, we evaluate the performance of the detectors using leveled ground, slow (approximately 3 km/h) and normal (approximately 5 km/h) gait data. The test results are presented in terms of detection versus false-alarm probability. Our preliminary results show that the new detector performs marginally better than the angular rate energy detector that outperforms both the acceleration-moving variance detector and the acceleration-magnitude detector.read more
Citations
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Journal ArticleDOI
Using Inertial Sensors for Position and Orientation Estimation
TL;DR: In recent years, micro-machined electromechanical system inertial sensors (3D accelerometers and 3D gyroscopes) have become widely available due to their small size and low cost.
Journal ArticleDOI
Inertial Sensor-Based Stride Parameter Calculation From Gait Sequences in Geriatric Patients
Alexander Rampp,Jens Barth,Samuel Schülein,Karl-Günter Gaßmann,Jochen Klucken,Björn M. Eskofier +5 more
TL;DR: An algorithm for the calculation of clinically relevant gait parameters derived from inertial sensors is applicable in the diagnostic workup and also during long-term monitoring approaches in the elderly population.
Journal ArticleDOI
Motion Mode Recognition and Step Detection Algorithms for Mobile Phone Users
TL;DR: A classifier able to detect motion modes typical for mobile phone users has been designed and implemented and success of the step detection process is found to be higher than 97% in all motion modes.
Journal ArticleDOI
Step length estimation using handheld inertial sensors.
TL;DR: A novel step length model using a handheld Micro Electrical Mechanical System (MEMS) combines the user's step frequency and height with a set of three parameters for estimating step length that is comparable with models proposed in the literature for body fixed sensors only.
Journal ArticleDOI
Wearable sensors objectively measure gait parameters in Parkinson's disease.
Johannes C. M. Schlachetzki,Jens Barth,Franz Marxreiter,Julia Gossler,Zacharias Kohl,Samuel Reinfelder,Heiko Gassner,Kamiar Aminian,Bjoern M. Eskofier,J. Winkler,Jochen Klucken +10 more
TL;DR: Wearable sensor-based gait analysis reaches clinical applicability providing a high biomechanical resolution for gait impairment in Parkinson’s disease, and cross-sectional analysis revealed that gait parameters were sensitive to changes by mirroring the progressive nature of Parkinson's disease and corresponded to physician ratings.
References
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TL;DR: The Fundamentals of Statistical Signal Processing: Estimation Theory as mentioned in this paper is a seminal work in the field of statistical signal processing, and it has been used extensively in many applications.
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Strapdown inertial navigation technology
David Titterton,John Weston +1 more
TL;DR: In this paper, the physical principles of inertial navigation, the associated growth of errors and their compensation, and their application in a broad range of applications are discussed, drawing current technological developments and providing an indication of potential future trends.
Journal ArticleDOI
Pedestrian tracking with shoe-mounted inertial sensors
TL;DR: The NavShoe device provides not only robust approximate position, but also an extremely accurate orientation tracker on the foot, which can greatly reduce the database search space for computer vision, making it much simpler and more robust.
Journal ArticleDOI
Quaternion-based extended Kalman filter for determining orientation by inertial and magnetic sensing
TL;DR: Improvements in the accuracy of orientation estimates are demonstrated for the proposed quaternion based extended Kalman filter, as compared with filter implementations where either the in-line calibration procedure, the adaptive mechanism for weighting the measurements of the aiding system sensors, or both are not implemented.