Accurate Estimation of Gait Altitude Using One Wearable IMU Sensor

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Accurate Estimation of Gait Altitude Using One Wearable IMU Sensor
	Duan, Hongjun 2; Liu LQ(刘连庆)1 ; Zhao YL(赵玉良)2 ; Liang, Jiaqi 2; Li, Jinli 2; Sun, Hui 2; Sha, Xiaopeng 2
	2018
会议日期	December 5-7, 2018
会议地点	Shenzhen, China
关键词	Wearable IMU Sensor Altitude Estimation Gait Phase Detection Complementary Filter
页码	64-67
英文摘要	We present a novel method of estimating gait altitude by using the acceleration and angular velocity data obtained from a single Inertial Measurement Unit (IMU) sensor. High-precision foot tracking and vertical positioning were achieved by using this method. The inherent drifts of IMU sensors, which may cause cumulative errors for position estimation, were reduced by using our algorithm. Firstly, a multitude-threshold detection method was used to determine the stance phase and swing phase in gait movement. Secondly, a zero-velocity update was performed in the stance phase to minimize the drift error when the single foot is stationary. Finally, in the swing phase, the motion direction was represented by quaternion, and the gait altitude was estimated using a method that combines a Complementary Filter (CF) algorithm and a Target-error Compensation algorithm. Experimental results show that this method can effectively reduce inherent drifts of wearable IMU sensors and ensure accurate estimation of gait altitude.
产权排序	2
会议录	Proceedings of the 1st IEEE International Conference on Micro/Nano Sensors for AI, Healthcare and Robotics
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-5386-9408-4
WOS记录号	WOS:000470204100014
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/24698]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Duan, Hongjun; Zhao YL(赵玉良)
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China 2.School of Control Engineering, Northeastern University at Qinhuangdao, Qinhuangdao 066004, China
推荐引用方式 GB/T 7714	Duan, Hongjun,Liu LQ,Zhao YL,et al. Accurate Estimation of Gait Altitude Using One Wearable IMU Sensor[C]. 见:. Shenzhen, China. December 5-7, 2018.