scholarly journals Using Step Size and Lower Limb Segment Orientation from Multiple Low-Cost Wearable Inertial/Magnetic Sensors for Pedestrian Navigation

Sensors ◽  
2019 ◽  
Vol 19 (14) ◽  
pp. 3140
Author(s):  
Chandra Tjhai ◽  
Kyle O’Keefe
Keyword(s):  
Stride Length ◽  
Low Cost ◽  
Magnetic Sensors ◽  
Estimation Methods ◽  
Size Estimation ◽  
Step Size ◽  
Limb Segment ◽  
Pedestrian Navigation ◽  
Mean Error ◽  
Skeletal Model

This paper demonstrates the use of multiple low-cost inertial/magnetic sensors as a pedestrian navigation system for indoor positioning. This research looks at the problem of pedestrian navigation in a practical manner by investigating dead-reckoning methods using low-cost sensors. This work uses the estimated sensor orientation angles to compute the step size from the kinematics of a skeletal model. The orientations of limbs are represented by the tilt angles estimated from the inertial measurements, especially the pitch angle. In addition, different step size estimation methods are compared. A sensor data logging system is developed in order to record all motion data from every limb segment using a single platform and similar types of sensors. A skeletal model of five segments is chosen to model the forward kinematics of the lower limbs. A treadmill walk experiment with an optical motion capture system is conducted for algorithm evaluation. The mean error of the estimated orientation angles of the limbs is less than 6 degrees. The results show that the step length mean error is 3.2 cm, the left stride length mean error is 12.5 cm, and the right stride length mean error is 9 cm. The expected positioning error is less than 5% of the total distance travelled.

ADAPTIVE FILTERING ALGORITHMS ENHANCE THE ACCURACY OF LOW-COST INERTIAL/MAGNETIC SENSING IN PEDESTRIAN NAVIGATION SYSTEMS

2008 ◽  
Vol 07 (03) ◽  
pp. 351-361 ◽  
Author(s):  
ANGELO MARIA SABATINI
Keyword(s):  
Magnetic Fields ◽  
Low Cost ◽  
Form Factors ◽  
The Body ◽  
Magnetic Sensors ◽  
Computational Method ◽  
Body Motion ◽  
Navigation Systems ◽  
Filtering Algorithms ◽  
Pedestrian Navigation

The availability of inexpensive, miniaturized sensors and the development of efficient and accurate filtering algorithms are important elements in order that pedestrian navigation system (PNS) will become an enabling technology for monitoring unconstrained daily living activities of human subjects. In this paper, we develop and test a computational method that estimates the path traveled by a walker from in-shoe mounted tri-axis inertial and magnetic sensors. The interest for inertial and magnetic sensors stems from their low cost, suitable form factors, small power consumption, which may give rise to self-contained, portable PNS whose hindrance to walking is limited. An important element in our approach is represented by an extended Kalman filter (EKF), whose aim is to estimate the body part orientation and to perform the in-line calibration of the tri-axis magnetometer. Two validation tests are applied to either acceleration or magnetic vector measurements, in order to adapt the measurement noise covariance matrix against the effects of body motion and external magnetic fields on the sensed gravity and earth's magnetic fields involved in orientation determination. Additionally, some biomechanical facts about how humans normally move are exploited to enhance the positioning performance of the developed method.

scholarly journals Research on the Performance of Solar Aided Power Generation System Based on Annular Fresnel Solar Concentrator

Energies ◽  
2021 ◽  
Vol 14 (6) ◽  
pp. 1579
Author(s):  
Heng Zhang ◽  
Na Wang ◽  
Kai Liang ◽  
Yang Liu ◽  
Haiping Chen
Keyword(s):  
Power Generation ◽  
High Efficiency ◽  
Low Cost ◽  
Economic Index ◽  
Partial Replacement ◽  
Solar Concentrator ◽  
Small Disturbance ◽  
Step Size ◽  
Water Matrix ◽  
Cost Utilization

A solar-aided power generation (SAPG) system effectively promotes the high efficiency and low cost utilization of solar energy. In this paper, the SAPG system is represented by conventional coal-fired units and an annular Fresnel solar concentrator (AFSC) system. The annular Fresnel solar concentrator system is adopted to generate solar steam to replace the extraction steam of the turbine. According to the steam–water matrix equation and improved Flugel formula, the variable conditions simulation and analysis of the thermo-economic index were proposed by Matlab. Furthermore, in order to obtain the range of small disturbance, the method of partial replacement is used, that is, the extraction steam of the turbine is replaced from 0 to 100% with a step size of 20%. In this work, a SAPG system is proposed and its thermo-economic index and small disturbance scope are analyzed. The results show that the SAPG system is energy-saving, and the application scope of small disturbance is related to the quantity of the extraction steam and evaluation index.

scholarly journals A Pilot Study on Home Range and Habitat Use of Chinese Goral (Naemorhedus Griseus): Exploring GPS Tracking Data in Cliff Landscape by Three Estimation Methods

2021 ◽  
Author(s):  
yang teng ◽  
Shupei TANG ◽  
lai heda meng ◽  
Liji Wu ◽  
Zhiqing HAN ◽  
...  
Keyword(s):  
Home Range ◽  
Habitat Use ◽  
Estimation Methods ◽  
Conservation Strategies ◽  
Gps Tracking ◽  
Tracking Data ◽  
Size Estimation ◽  
Range Estimation ◽  
Lower Altitude ◽  
Effective Conservation

Abstract Home range size estimation is a crucial basis for developing effective conservation strategies and provides important insights into animal behavior and ecology. This study aimed at analyzing the home range variations, the influence of altitude in habitat selection, and comparing three methods in home range estimation of Chinese gorals (Naemorhedus griseus) living at a cliff landscape. The results indicated that there were significant differences between the annual home range sizes of individual animals but there was no difference in their seasonal home range sizes based on GPS tracking data of five female Chinese gorals from February 2015 to September 2018. The monthly home ranges decreased dramatically in May, June and July due to birth-giving. Notable seasonal variations were found in the micro-habitats of the Chinese gorals, as reflected by the altitude they inhabit, with higher altitude habitats used in spring and lower altitude habitats used in winter. Additionally, the altitude of monthly habitats was lowest in January, which may indicate an adaptation to low air temperature. We also found differences between estimation methods, namely minimum convex polygon (MCP), kernel density estimation (KDE) and α-local convex hull (α-LoCoH), with seasonal home range sizes derived from α-LoCoH being substantially smaller than those derived from MCP and KDE. In conclusion, our findings filled the gaps in home range study for this endangered species and contributed to effective conservation strategies. Considerations shall have to be given to the variations in home range estimation caused by different methods when dealing with rugged habitats, so as to make sure that any interpretation concerning the habitat use of the targeted species made on basis of such results would be meaningful and valid.

scholarly journals A Pilot Study on Home Range and Habitat Use of Chinese Goral (Naemorhedus Griseus): Exploring GPS Tracking Data in Cliff Landscape by Three Estimation Methods

2021 ◽  
Author(s):  
Yang Teng ◽  
Shupei TANG ◽  
Dalai Menghe ◽  
Liji Wu ◽  
Zhiqing HAN ◽  
...  
Keyword(s):  
Home Range ◽  
Habitat Use ◽  
Estimation Methods ◽  
Conservation Strategies ◽  
Gps Tracking ◽  
Tracking Data ◽  
Size Estimation ◽  
Range Estimation ◽  
Lower Altitude ◽  
Effective Conservation

Abstract Home range size estimation is a crucial basis for developing effective conservation strategies and provides important insights into animal behavior and ecology. This study aimed at analyzing the home range variations, the influence of altitude in habitat selection, and comparing three methods in home range estimation of Chinese gorals (Naemorhedus griseus) living at a cliff landscape. The results indicated that there were significant differences between the annual home range sizes of individual animals but there was no difference in their seasonal home range sizes based on GPS tracking data of five female Chinese gorals from February 2015 to September 2018. The monthly home ranges decreased dramatically in May, June and July due to birth-giving. Notable seasonal variations were found in the micro-habitats of the Chinese gorals, as reflected by the altitude they inhabit, with higher altitude habitats used in spring and lower altitude habitats used in winter. Additionally, the altitude of monthly habitats was lowest in January, which may indicate an adaptation to low air temperature. We also found differences between estimation methods, namely minimum convex polygon (MCP), kernel density estimation (KDE) and α-local convex hull (α-LoCoH), with seasonal home range sizes derived from α-LoCoH being substantially smaller than those derived from MCP and KDE. In conclusion, our findings filled the gaps in home range study for this endangered species and contributed to effective conservation strategies. Considerations shall have to be given to the variations in home range estimation caused by different methods when dealing with rugged habitats, so as to make sure that any interpretation concerning the habitat use of the targeted species made on basis of such results would be meaningful and valid.

scholarly journals Performance Enhancement of Pedestrian Navigation Systems Based on Low-Cost Foot-Mounted MEMS-IMU/Ultrasonic Sensor

Sensors ◽  
2019 ◽  
Vol 19 (2) ◽  
pp. 364 ◽  
Author(s):  
Ming Xia ◽  
Chundi Xiu ◽  
Dongkai Yang ◽  
Li Wang
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Navigation System ◽  
Low Cost ◽  
Ultrasonic Sensor ◽  
Measurement Unit ◽  
Positioning Error ◽  
Process Noise ◽  
Pedestrian Navigation ◽  
Mems Imu

The pedestrian navigation system (PNS) based on inertial navigation system-extended Kalman filter-zero velocity update (INS-EKF-ZUPT or IEZ) is widely used in complex environments without external infrastructure owing to its characteristics of autonomy and continuity. IEZ, however, suffers from performance degradation caused by the dynamic change of process noise statistics and heading estimation errors. The main goal of this study is to effectively improve the accuracy and robustness of pedestrian localization based on the integration of the low-cost foot-mounted microelectromechanical system inertial measurement unit (MEMS-IMU) and ultrasonic sensor. The proposed solution has two main components: (1) the fuzzy inference system (FIS) is exploited to generate the adaptive factor for extended Kalman filter (EKF) after addressing the mismatch between statistical sample covariance of innovation and the theoretical one, and the fuzzy adaptive EKF (FAEKF) based on the MEMS-IMU/ultrasonic sensor for pedestrians was proposed. Accordingly, the adaptive factor is applied to correct process noise covariance that accurately reflects previous state estimations. (2) A straight motion heading update (SMHU) algorithm is developed to detect whether a straight walk happens and to revise errors in heading if the ultrasonic sensor detects the distance between the foot and reflection point of the wall. The experimental results show that horizontal positioning error is less than 2% of the total travelled distance (TTD) in different environments, which is the same order of positioning error compared with other works using high-end MEMS-IMU. It is concluded that the proposed approach can achieve high performance for PNS in terms of accuracy and robustness.

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