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신발에 장착된 IMU를 이용한 구조요원 위치 추정을 위한 보행 동작 검출 알고리즘 : Gait Event Detection Algorithm for Firefighters Navigation using Foot-Mounted IMU
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- Authors
- Issue Date
- 2011-11-04
- Publisher
- (사)GNSS기술협의회
- Citation
- The 18th GNSS Workshop
- Keywords
- Firefighter ; PDR ; Gait Event Detection
- Abstract
- In this paper we present a gait event detection algorithm for firefighters, which uses
characteristic features of IMU to identify different walking motion stages and eventually develop a
classification algorithm for such motions. IMU is implemented at firefighters right foot, which has 3 axis
gyro, 3 axis accelerometers, and 3 axis magnetometers, Using these data, we find distinctive features and
recognize pedestrian`s walking motions such as FS(Foot Strike), ISP(Initial Stance Phase), OFS(Opposite
Foot Strike), TO(Toe Off), and IS(Initial Swing). By recognizing these walking motions, we can calculate
more accurate step length when using ZUPT(Zero velocity UPdaTe) algorithm or PDR(Pedestrian Dead
Reckoning).
- Language
- Korean
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