신발에 장착된 IMU를 이용한 구조요원 위치 추정을 위한 보행 동작 검출 알고리즘

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).