Andrei M. Shkel - Pedestrian Inertial Navigation with Self-Contained Aiding

5 Chapter 5Figure 5.1 Relation between the volumes and the navigation error in five min...Figure 5.2 Comparison of the estimated velocity of the North and estimated t...Figure 5.3 Diagram of the ZUPT‐aided pedestrian inertial navigation algorith...Figure 5.4 Velocity propagation along three orthogonal directions during the...Figure 5.5 Distribution of the final velocity along three orthogonal directi...

6 Chapter 6Figure 6.1 (a) Interpolation of joint movement data and (b) simplified human...Figure 6.2 Human ambulatory gait analysis. The light gray dots are the stati...Figure 6.3 Velocity of the parameterized trajectory. A close match is demons...Figure 6.4 Displacement of the parameterized trajectory. A close match is de...Figure 6.5 A typical propagation of errors in attitude estimations in ZUPT‐a...Figure 6.6 Effects of ARW of the gyroscopes on the velocity and angle estima...Figure 6.7 Effects of VRW of the accelerometers on the velocity and angle es...Figure 6.8 Effects of RRW of the gyroscopes on the velocity and angle estima...Figure 6.9 Relation between RRW of gyroscopes and the position estimation un...Figure 6.10 Allan deviation plot of the IMU used in this study. The result i...Figure 6.11 The navigation error results of 40 trajectories. The averaged ti...Figure 6.12 Ending points of 40 trajectories. All data points are in a recta...Figure 6.13 Autocorrelations of the , , and components of the innovation...

7 Chapter 7Figure 7.1 Possible IMU‐mounting positions.Figure 7.2 Noise characteristics of the IMUs used in the study.Figure 7.3 Comparison of averaged IMU data and ZUPT states from IMUs mounted...Figure 7.4 Navigation error of 34 tests of the same circular trajectory.Figure 7.5 Comparison of estimated trajectories and innovations from IMU mou...Figure 7.6 Experimental setup to record the motion of the foot during the st...Figure 7.7 Velocity of the foot along three directions during a gait cycle. ...Figure 7.8 Zoomed‐in view of the velocity of the foot during the stance phas...Figure 7.9 Panel (a) shows the test statistics of the same 70 steps recorded...Figure 7.10 Relation between the underestimate of trajectory length and the ...Figure 7.11 The solid line is an estimated trajectory, and the dashed line i...Figure 7.12 (a) Experimental setup to statically calibrate IMU; (b) experime...Figure 7.13 Relation between the gyroscope g‐sensitivity and the vibration f...Figure 7.14 Comparison of trajectories with and without systematic error com...Figure 7.15 Comparison of the end points with and without systematic error c...

8 Chapter 8Figure 8.1 Schematics of the algorithm discussed in this chapter. The number...Figure 8.2 An example of IMU data partition. Each partition (indicated by di...Figure 8.3 Distribution of eigenvalues of the centered data matrix after con...Figure 8.4 Relation between the misclassification rate, PCA output dimension...Figure 8.5 Confusion matrices of the floor type identification results with ...Figure 8.6 Distribution of the first two principal components of the availab...Figure 8.7 Schematics of the algorithm used in this study. The part in gray ...Figure 8.8 Navigation results with and without the floor type identification...Figure 8.9 The solid line is a typical test statistic for different walking ...Figure 8.10 The relation between the shock level and the minimum test statis...Figure 8.11 The dashed lines in dark and light gray are adaptive thresholds ...Figure 8.12 Sub figures (a) through (d) show position propagation, specific ...Figure 8.13 Relation between the navigation RMSE and fixed threshold level i...

9 Chapter 9Figure 9.1 Lab‐on‐Shoe platform. Schematic of the vision‐based foot‐to‐foot ...Figure 9.2 Schematic of the comparison of (a) one‐way ranging and (b) two‐wa...Figure 9.3 Scattering of the sound wave deteriorates the accuracy of the mea...Figure 9.4 “T” stands for transmitter and “R” stands for receiver. Only in c...Figure 9.5 (a) Experimental setup of the illustrative experiment; (b) Rangin...Figure 9.6 A comparison of results of different aiding techniques for indoor...Figure 9.7 A comparison of different aiding techniques for self‐contained na...

10 Chapter 10Figure 10.1 Our perspective of pedestrian inertial navigation system: uNavCh...

1 Cover

2 Table of Contents

3 IEEE Press

4 Title Page Pedestrian Inertial Navigation with Self‐Contained Aiding Yusheng Wang and Andrei M. Shkel University of California, Irvine IEEE Press Series on Sensors Vladimir Lumelsky, Series Editor

5 Copyright Copyright © 2021 by The Institute of Electrical and Electronics Engineers, Inc. All rights reserved. Published by John Wiley & Sons, Inc., Hoboken, New Jersey. Published simultaneously in Canada. No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, scanning, or otherwise, except as permitted under Section 107 or 108 of the 1976 United States Copyright Act, without either the prior written permission of the Publisher, or authorization through payment of the appropriate per‐copy fee to the Copyright Clearance Center, Inc., 222 Rosewood Drive, Danvers, MA 01923, (978) 750‐8400, fax (978) 750‐4470, or on the web at www.copyright.com . Requests to the Publisher for permission should be addressed to the Permissions Department, John Wiley & Sons, Inc., 111 River Street, Hoboken, NJ 07030, (201) 748‐6011, fax (201) 748‐6008, or online at http://www.wiley.com/go/permission . Limit of Liability/Disclaimer of Warranty: While the publisher and author have used their best efforts in preparing this book, they make no representations or warranties with respect to the accuracy or completeness of the contents of this book and specifically disclaim any implied warranties of merchantability or fitness for a particular purpose. No warranty may be created or extended by sales representatives or written sales materials. The advice and strategies contained herein may not be suitable for your situation. You should consult with a professional where appropriate. Neither the publisher nor author shall be liable for any loss of profit or any other commercial damages, including but not limited to special, incidental, consequential, or other damages. For general information on our other products and services or for technical support, please contact our Customer Care Department within the United States at (800) 762‐2974, outside the United States at (317) 572‐3993 or fax (317) 572‐4002. Wiley also publishes its books in a variety of electronic formats. Some content that appears in print may not be available in electronic formats. For more information about Wiley products, visit our web site at www.wiley.com . Library of Congress Cataloging‐in‐Publication Data applied for: ISBN: 9781119699552 Cover Design: Wiley Cover Image: © Production Perig/Shutterstock

6 Author Biographies Author Biographies Yusheng Wang, PhD, received the B.Eng. degree (Hons.) in engineering mechanics from Tsinghua University, Beijing, China, in 2014 and the Ph.D. degree in mechanical and aerospace engineering from the University of California, Irvine, CA, in 2020. His research interests include the development of silicon‐based and fused quartz‐based MEMS resonators and gyroscopes, and pedestrian inertial navigation development with sensor fusion. He is currently working at SiTime Corporation as an MEMS Development Engineer. Andrei M. Shkel, PhD , has been on faculty at the University of California, Irvine since 2000, and served as a Program Manager in the Microsystems Technology Office of DARPA. His research interests are reflected in over 300 publications, 42 patents, and 3 books. Dr. Shkel has been on a number of editorial boards, including Editor of IEEE/ASME JMEMS, Journal of Gyroscopy and Navigation , and the founding chair of the IEEE Inertial Sensors . He was awarded the Office of the Secretary of Defense Medal for Exceptional Public Service in 2013, and the 2009 IEEE Sensors Council Technical Achievement Award. He is the President of the IEEE Sensors Council and the IEEE Fellow.