Personal navigation using a kinetic model of human gait.
2010-12
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Personal navigation using a kinetic model of human gait.
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2010-12
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Abstract
Personal navigation concerns the tracking of human beings via devices carried or
worn by individuals and presents a unique set of challenges in regards to navigation
system and algorithm design. Many conventional position ¯xing and dead reckoning
approaches tend to perform poorly given the requirements for personal navigation,
which may consider GNSS-denied environments, a wide, highly dynamic range of
motion, and low-cost and small form-factor sensor limitations. A novel approach to
assisting or augmenting other navigation algorithms by employing a kinetic model of
human gait is presented in this thesis. The kinetic model in concert with a single-axis
accelerometer is shown here to comprise a virtual sensor capable of providing step
size estimates in-situ for straight forward walking. Furthermore, the combination of
the kinetic model and accelerometer yields a navigation solution of comparable or
better performance when compared to a step counting dead reckoning approach. The
derivation of this model is discussed, details of the experiments are given, and results
are shown.
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University of Minnesota M.S. thesis. December 2010. Major: Aerospace Engineering and mechanics. Advisor:Demoz Gebre-Egziabher. 1 computer file (PDF); ix, 74 pages.
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Matthews, Christopher J.. (2010). Personal navigation using a kinetic model of human gait.. Retrieved from the University Digital Conservancy, https://hdl.handle.net/11299/103212.
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