IPIN'14: Foot-Mounted Inertial Navigation Made Easy
Despite being around for almost two decades, footmounted inertial navigation only has gotten a limited spread. Contributing factors to this are lack of suitable hardware platforms and difficult system integration. As a solution to this, we present an open-source wireless foot-mounted inertial navigation module with an intuitive and significantly simplified dead reckoning interface. The interface is motivated from statistical properties of the underlying aided inertial navigation and argued to give negligible information loss. The module consists of both a hardware platform and embedded software. Details of the platform and the software are described, and a summarizing description of how to reproduce the module are given. System integration of the module is outlined and finally, we provide a basic performance assessment of the module. In summary, the module provides a modularization of the foot-mounted inertial navigation and makes the technology significantly easier to use.
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IPIN'14: Foot-Mounted Inertial Navigation Made Easy
- 1. Foot-mounted inertial navigation made easy John-Olof Nilsson, Amit K Gupta, Peter Händel KTH Royal Institute of Technology IPIN 2014-10-28
- 2. Made easy in the sense … • We have built a module that modularizes the foot- mounted inertial navigation technology
- 3. Why is it important? • Key engineering principle for large/complex systems • Greatly reduces communication requirements/enables higher sampling rates
- 4. • Open source • Good performance • Low cost Bonus
- 5. Outline • The modules - Modularize how … - The implementation - Tracking results • Supporting/supported research • Final remarks
- 6. The modularization problem • Typical implementation - Measurements from foot-mounted IMU to application platform - Processing on application platform • Required for fusion but exposes system complexity and requires high rate communication
- 8. The modularization Step-wise aided inertial navigation Dead reckoning Low rate dead reckoning updates
- 9. Supporting hardware and software • Key features - Multiple single-chip IMUs - Floating point uC - Wireless link (Bluetooth) - Low form-factor - Open • Software - C (no OS) - Framework + algorithms
- 12. Calibration (supporting) J.-O. Nilsson, I. Skog, and P. Händel, “Aligning the forces – Eliminating the misalignments in IMU arrays,” IEEE Trans. Instrum. Meas., vol. 63, no. 10, pp. 2498–2500, 2014.
- 13. Massive-MIMU (supporting) I. Skog, J.-O. Nilsson, and P. Händel, “An open-source multi inertial measurement unit (MIMU) platform,” in ISISS2014, Laguna Beach, CA, USA, 25-26 Feb. 2014.
- 14. Tactical locator – TOR (supported) ImplementationSetup J.-O. Nilsson, C. Schüldt, and P. Händel, “Voice radio communication, 3D audio and the tactical use of pedestrian localization,” in IPIN2013, Montbéliard - Belfort, France, 28-31 Oct. 2013. J.-O. Nilsson, D. Zachariah, I. Skog, and P. Händel, “Cooperative localization by dual foot- mounted inertial sensors and inter-agent ranging,” EURASIP J. Adv. Sig. Pr., vol. 2013:164, 2013.
- 15. Some field experiments • Search operation in smokefilled built-up environment • 15min • Fully equipped smokedivers • Walking first part • Crawling second part Screen capture (5x)
- 16. Final remarks • All resources at www.openshoe.org (calibration and massive-MIMU platform as well) • Possible to buy modules (www.gt-silicon.com) • Demo tomorrow