In this study, we investigate the problem of detecting time epochs when zero-velocity updates can be applied in a foot-mounted inertial navigation (motion tracking) system. We examine three commonly used detectors: acceleration moving variance detector, magnitude and angular rate energy detector. demonstrate that all detectors derived within same general likelihood ratio test framework given different prior knowledge about sensor signals. Further, by combining knowledge, derive new...

In-car positioning and navigation has been a killer application for Global Positioning System (GPS) receivers, variety of electronics consumers professionals have launched on large scale. technologies based stand-alone GPS receivers are vulnerable and, thus, to be supported by additional information sources obtain the desired accuracy, integrity, availability, continuity service. A survey fusion used in current in-car systems is presented. The pros cons four commonly sources, namely, 1)...

Just as it has irrevocably reshaped social life, the fast growth of smartphone ownership is now beginning to revolutionize driving experience and change how we think about automotive insurance, vehicle safety systems, traffic research. This paper summarizes first ten years research in smartphone-based telematics, with a focus on user-friendly implementations challenges that arise due mobility smartphone. Notable academic industrial projects are reviewed, system aspects related sensors,...

A study of the performance four zero-velocity detectors for a foot-mounted inertial sensor based pedestrian navigation system is presented. The are acceleration moving variance detector, magnitude angular rate energy and novel generalized likelihood ratio test refereed to as SHOE. each detector assessed by accuracy position solution provided employing perform updates. results show that leveled ground forward gait at speed 5 km/h, SHOE give highest performance, with 0.14% travelled distance....

We present an open-source, realtime, embedded implementation of a foot-mounted, zero-velocity-update-aided inertial navigation system. The includes both hardware design and software, uses off-the-shelf components assembly methods, features standard USB interface. software is written in C can easily be modified to run user implemented algorithms. the are released under permissive open-source licenses production files, source code, documentation, further resources available at...

Smartphone-based insurance telematics or usage based is a disruptive technology which relies on premiums that reflect the risk profile of driver; measured via smartphones with appropriate installed software. A survey smartphone-based presented, including definitions; Figure-of-Merits (FoMs), describing behavior driver and characteristics trip; profiling different sets FoMs. The data quality provided by smartphone characterized in terms Accuracy, Integrity, Availability, Continuity Service....

A framework is presented to deploy a smartphone-based measurement system for road vehicle traffic monitoring and usage-based insurance (UBI). Through the aid of hierarchical model modularize description, functionality described as spanning from sensor-level technical specification topmost business model. The designer complex has consider full picture low-level sensing, actuating, wireless data transfer level, including enticements individual smartphone owners, i.e., end users who are actual...

A maximum likelihood estimator for fusing the measurements in an inertial sensor array is presented. The concentrated and iterative solution method presented resulting low-dimensional optimization problem. Cramér-Rao bound corresponding measurement fusion problem derived used to assess performance of proposed method, as well analyze how geometry errors affect accuracy fusion. angular velocity information gained from accelerometers shown be proportional square dimension speed. In our...

The implementation challenges of cooperative localization by dual foot-mounted inertial sensors and inter-agent ranging are discussed, work on the subject is reviewed. System architecture sensor fusion identified as key challenges. A partially decentralized system based step-wise navigation dead reckoning presented. This argued to reduce computational cost required communication bandwidth around two orders magnitude while only giving negligible information loss in comparison with a naive...

An open-source low-cost multi inertial measurement unit (MIMU) systems platform is presented. First, the layout and system architecture of platform, as well novel communication interface used to simultaneously communicate with 18 IMUs in are described. Thereafter, potential gains using a MIMU described discussed. Finally, error characteristics when stationary, illustrated Allan variance plots.

A Bayesian zero-velocity detector for foot-mounted inertial navigation systems is presented. The extends existing detectors based on the likelihood-ratio test and allows, possibly time-dependent, prior information about two hypotheses-the sensors being stationary or in motion-to be incorporated into test. It also possible to incorporate cost of a missed detection false alarm. Specifically, we consider hypothesis velocity estimates provided by system an exponential model how increases with...

A research study aimed at developing a novel indoor positioning system is presented. The realized prototype uses sensor fusion techniques to combine information from two sources: an in-house ...

A method is proposed to fuse the information from two navigation systems whose relative position unknown, but where there exists an upper limit on how far apart can be. The fusion applied a scenario in which pedestrian equipped with foot-mounted zero-velocity-aided inertial systems; one system each foot. performance of studied using experimental data. results show that has capability significantly improve when compared uncoupled systems.

The effects of data time synchronization errors in a loosely coupled Global-Positioning-System (GPS)-aided inertial navigation system (INS) are studied and quantified terms the increased mean square error (MSE) solution. An expression for evaluating MSE solution, given vehicle trajectory model INS dynamics, is derived. Thereafter, software-based method, where included as state to be estimated by integration filter, proposed. A practical approach implementation proposed method also briefly...

A real-time cooperative localization system, utilizing dual foot-mounted low-cost inertial sensors and RF-based inter-agent ranging, has been developed. Scenario-based tests have performed, using fully-equipped firefighters mimicking a search operation in partly smoke-filled environment, to evaluate the performance of TOR (Tactical lOcatoR) system. The performed included realistic firefighter movements distances, factors that are crucial order provide evaluations expected real-world...

Ubiquitous and accurate tracking of pedestrians are an enabler for a large range emerging envisioned services capabilites. To track in prevailing indoor environments, inertial measurement units (IMUs) may be used to implement foot-mounted navigation. Today ultra-low-cost IMUs taking leading role the advancement IMU performance-to-cost boundary. Unfortunately, performance these still insufficient allow extended stand-alone tracking. However, size, price, power consumption single-chip makes it...

Ultralow-cost single-chip inertial measurement units (IMUs) combined into IMU arrays are opening up new possibilities for sensing. However, to make these systems practical researchers, a simple calibration procedure that aligns the sensitivity axes of sensors in array is needed. In this paper, we suggest novel mechanical-rotation-rig-free based on blind system identification and Platonic solid printable using contemporary 3-D printer. The placed inside solid, static measurements taken with...

We propose a framework for the detection of dangerous vehicle cornering events, based on statistics related to no-sliding and no-rollover conditions. The input variables are estimated using an unscented Kalman filter applied global navigation satellite system (GNSS) measurements position, speed, bearing. resulting test statistic is evaluated in field study where three smartphones used as measurement probes. A general performance evaluation estimator calibration presented depending generic...

In this paper, we develop new methods to automatically detect the onset and duration of freezing gait (FOG) in people with Parkinson disease (PD) real time, using inertial sensors. We first build a physical model that describes trembling motion during FOG events. Then, design generalized likelihood ratio test framework two-stage detector for determining zero-velocity events gait. Thereafter, filter out falsely detected events, point-process combines output detectors information about speed...

Insurance telematics programs are continuously gaining market shares in the automotive insurance industry. By recording data on drivers' behavior, information asymmetry between policyholder and insurer is reduced, enabling a granular risk differentiation based true levels of drivers. However, growth industry being held up by large logistic costs associated with process acquiring data. As result, several participants have started looking towards smartphone-based solutions, which potential...

We propose a hidden Markov model approach for processing seismocardiograms. The seismocardiogram morphology is learned using the expectation-maximization algorithm, and state of heart at given time instant estimated by Viterbi algorithm. From obtained sequence, it then straightforward to estimate instantaneous rate, rate variability measures, cardiac intervals (the latter requiring small number manual annotations). As shown in conducted experimental study, presented algorithm outperforms...