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access icon free Impact of on-body IMU placement on inertial navigation

© The Institution of Engineering and Technology
Received 15/07/2017, Accepted 01/11/2017, Revised 10/10/2017, Published 02/11/2017

Even though technology-aided personal navigation is an extensively studied research topic, approaches based on inertial sensors remain challenging. In this study, the authors present a comparison between different inertial systems, investigating the impacts of on-body placement of Inertial Measurement Units (IMUs) and, consequently, of different algorithms for the estimation of the travelled path on the navigation accuracy. In particular, the system performance is investigated considering two IMU placements: (i) on the feet and (ii) on the lower back. Sensor fusion is then considered in order to take advantage of the strengths of each placement. The results are validated through an extensive data collection in indoor and outdoor environments.

Inspec keywords: inertial systems; inertial navigation; radionavigation; sensor fusion

Other keywords: inertial navigation; indoor environment; IMU placements; inertial measurement units; inertial systems; travelled path estimation; sensor fusion; navigation accuracy; outdoor environment; on-body placement; technology-aided personal navigation; on-body IMU placement; inertial sensors

Subjects: Signal processing and detection; Radionavigation and direction finding

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