Personal navigation using a kinetic model of human gait.

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Personal navigation using a kinetic model of human gait.

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Matthews, Christopher J.

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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.

Keywords

Navigation system

Navigation algorithms

Algorithm design

Kinetic model

Aerospace Engineering and mechanics

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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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