Heterogeneous Data Fusion Algorithm for Pedestrian Navigation via Foot-Mounted Inertial Measurement Unit and Complementary Filter

2015 ◽  
Vol 64 (1) ◽  
pp. 221-229 ◽  
Author(s):  
Hassen Fourati
Keyword(s):  
Data Fusion ◽  
Inertial Measurement Unit ◽  
Heterogeneous Data ◽  
Measurement Unit ◽  
Fusion Algorithm ◽  
Inertial Measurement ◽  
Pedestrian Navigation ◽  
Complementary Filter

scholarly journals A localization method for wireless capsule endoscopy using side wall cameras and IMU sensor

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Seyed Shahim Vedaei ◽  
Khan A. Wahid
Keyword(s):  
Inertial Measurement Unit ◽  
Side Wall ◽  
Measurement Unit ◽  
Fusion Algorithm ◽  
Inertial Measurement ◽  
Bowel Movements ◽  
Wireless Capsule ◽  
Nonhomogeneous Structure ◽  
Medical Delivery ◽  
Wide Wall

AbstractLocalizing the endoscopy capsule inside gastrointestinal (GI) system provides key information which leads to GI abnormality tracking and precision medical delivery. In this paper, we have proposed a new method to localize the capsule inside human GI track. We propose to equip the capsule with four side wall cameras and an Inertial Measurement Unit (IMU), that consists of 9 Degree-Of-Freedom (DOF) including a gyroscope, an accelerometer and a magnetometer to monitor the capsule’s orientation and direction of travel. The low resolution mono-chromatic cameras, installed along the wide wall, are responsible to measure the actual capsule movement, not the involuntary motion of the small intestine. Finally, a fusion algorithm is used to combine all data to derive the traveled path and plot the trajectory. Compared to other methods, the presented system is resistive to surrounding conditions, such as GI nonhomogeneous structure and involuntary small bowel movements. In addition, it does not require external antenna or arrays. Therefore, GI tracking can be achieved without disturbing patients’ daily activities.

scholarly journals ROTATING A MEMS INERTIAL MEASUREMENT UNIT FOR A FOOT-MOUNTED PEDESTRIAN NAVIGATION

2014 ◽  
Vol 10 (12) ◽  
pp. 2619-2627 ◽  
Author(s):  
Khairi Abdulrahim ◽  
Chris Hide ◽  
Terry Moore ◽  
Chris Hill
Keyword(s):  
Inertial Measurement Unit ◽  
Measurement Unit ◽  
Inertial Measurement ◽  
Pedestrian Navigation

scholarly journals A Novel Calibration Method for Gyro-Accelerometer Asynchronous Time in Foot-Mounted Pedestrian Navigation System

Sensors ◽  
2021 ◽  
Vol 22 (1) ◽  
pp. 209
Author(s):  
Tianyu Chen ◽  
Gongliu Yang ◽  
Qingzhong Cai ◽  
Zeyang Wen ◽  
Wenlong Zhang
Keyword(s):  
Attitude Change ◽  
Navigation System ◽  
Inertial Measurement Unit ◽  
Detection Method ◽  
Calibration Method ◽  
Sampling Time ◽  
Measurement Unit ◽  
Positioning Accuracy ◽  
Inertial Measurement ◽  
Pedestrian Navigation

Pedestrian Navigation System (PNS) is one of the research focuses of indoor positioning in GNSS-denied environments based on the MEMS Inertial Measurement Unit (MIMU). However, in the foot-mounted pedestrian navigation system with MIMU or mobile phone as the main carrier, it is difficult to make the sampling time of gyros and accelerometers completely synchronous. The gyro-accelerometer asynchronous time affects the positioning of PNS. To solve this problem, a new error model of gyro-accelerometer asynchronous time is built. The effect of gyro-accelerometer asynchronous time on pedestrian navigation is analyzed. A filtering model is designed to calibrate the gyro-accelerometer asynchronous time, and a zero-velocity detection method based on the rate of attitude change is proposed. The indoor experiment shows that the gyro-accelerometer asynchronous time is estimated effectively, and the positioning accuracy of PNS is improved by the proposed method after compensating for the errors caused by gyro-accelerometer asynchronous time.

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