가속도 센서를 이용한 보행 정보 및 보행자 위치 추정Pedestrian Gait Estimation and Localization using an Accelerometer
- Other Titles
- Pedestrian Gait Estimation and Localization using an Accelerometer
- Authors
- 김희승; 이수용
- Issue Date
- 2010
- Publisher
- 한국로봇학회
- Keywords
- Accelerometer; Gait; Localization
- Citation
- 로봇학회 논문지, v.5, no.4, pp.279 - 285
- Journal Title
- 로봇학회 논문지
- Volume
- 5
- Number
- 4
- Start Page
- 279
- End Page
- 285
- URI
- https://scholarworks.bwise.kr/hongik/handle/2020.sw.hongik/20957
- ISSN
- 1975-6291
- Abstract
- This paper presents the use of 3 axis accelerometer for getting the gait information including the number of gaits, stride and walking distance. Travel distance is usually calculated from the double integration of the accelerometer output with respect to time; however, the accumulated errors due to the drift are inevitable. The orientation change of the accelerometer also causes error because the gravity is added to the measured acceleration. Unless three axis orientations are completely identified, the accelerometer alone does not provide correct acceleration for estimating the travel distance. We proposed a way of minimizing the error due to the change of the orientation. Pedestrian localization is implemented with the heading angle and the travel distance. Heading angle is estimated from the rate gyro and the magnetic compass measurements. The performance of the localization is presented with experimental data.
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Collections - College of Engineering > Department of Mechanical and System Design Engineering > 1. Journal Articles
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