Improving Accuracy of Real-Time Positioning and Path Tracking by Using an Error Compensation Algorithm against Walking Modes
Author:
Gong Jiale12, Li Ziyang1ORCID, Chen Mingzhu3, Wang Hong1, Hu Dongmo2
Affiliation:
1. Department of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China 2. Senzhigaoke Co., Ltd., Shenyang 110002, China 3. Robotics Laboratory, Shenyang Sport University, Shenyang 110102, China
Abstract
Wide-range application scenarios, such as industrial, medical, rescue, etc., are in various demand for human spatial positioning technology. However, the existing MEMS-based sensor positioning methods have many problems, such as large accuracy errors, poor real-time performance and a single scene. We focused on improving the accuracy of IMU-based both feet localization and path tracing, and analyzed three traditional methods. In this paper, a planar spatial human positioning method based on high-resolution pressure insoles and IMU sensors was improved, and a real-time position compensation method for walking modes was proposed. To validate the improved method, we added two high-resolution pressure insoles to our self-developed motion capture system with a wireless sensor network (WSN) system consisting of 12 IMUs. By multi-sensor data fusion, we implemented dynamic recognition and automatic matching of compensation values for five walking modes, with real-time spatial-position calculation of the touchdown foot, enhancing the 3D accuracy of its practical positioning. Finally, we compared the proposed algorithm with three old methods by statistical analysis of multiple sets of experimental data. The experimental results show that this method has higher positioning accuracy in real-time indoor positioning and path-tracking tasks. The methodology can have more extensive and effective applications in the future.
Funder
National Key R & D Program of China
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
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