Personal inertial navigation system employing MEMS wearable ground reaction sensor array and interface ASIC achieving a position accuracy of 5.5m over 3km walking distance without GPS
Q. Guo, William Deng, O. Bebek, M. C. Cavusoglu, C. Mastrangelo, D. Young
{"title":"Personal inertial navigation system employing MEMS wearable ground reaction sensor array and interface ASIC achieving a position accuracy of 5.5m over 3km walking distance without GPS","authors":"Q. Guo, William Deng, O. Bebek, M. C. Cavusoglu, C. Mastrangelo, D. Young","doi":"10.1109/ISSCC.2018.8310243","DOIUrl":null,"url":null,"abstract":"An accurate personal inertial navigation system under GPS-denied environment is highly critical for demanding applications such as firefighting, rescue missions, and military operations. Location-aware computation for large-area mixed reality also calls for accurate personal position tracking. Position calculation can be accomplished by using an inertial measurement unit (IMU) composed of a 3-axis accelerometer, 3-axis gyroscope, and 3-axis magnetometer. A gyroscope and magnetometer together can provide the orientation information, while the displacement can be obtained by integrating the acceleration data over time. A MEMS-based IMU is attractive for its small size, low power and low cost. However, such devices exhibit a limited accuracy, large offset, and time drift, which can result in an excessive position error over time. To achieve high-performance navigation, it is critical to accurately reset the IMU time-integration during each step when the foot contacts the ground. Furthermore, correcting the IMU inherent inaccuracy, bias, and time drift becomes important for improving system performance.","PeriodicalId":6617,"journal":{"name":"2018 IEEE International Solid - State Circuits Conference - (ISSCC)","volume":"101 9 1","pages":"180-182"},"PeriodicalIF":0.0000,"publicationDate":"2018-03-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"7","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 IEEE International Solid - State Circuits Conference - (ISSCC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISSCC.2018.8310243","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 7
Abstract
An accurate personal inertial navigation system under GPS-denied environment is highly critical for demanding applications such as firefighting, rescue missions, and military operations. Location-aware computation for large-area mixed reality also calls for accurate personal position tracking. Position calculation can be accomplished by using an inertial measurement unit (IMU) composed of a 3-axis accelerometer, 3-axis gyroscope, and 3-axis magnetometer. A gyroscope and magnetometer together can provide the orientation information, while the displacement can be obtained by integrating the acceleration data over time. A MEMS-based IMU is attractive for its small size, low power and low cost. However, such devices exhibit a limited accuracy, large offset, and time drift, which can result in an excessive position error over time. To achieve high-performance navigation, it is critical to accurately reset the IMU time-integration during each step when the foot contacts the ground. Furthermore, correcting the IMU inherent inaccuracy, bias, and time drift becomes important for improving system performance.