点击次数：

论文类型：期刊论文

发表时间：2015-12-01

发表刊物：IEEE-ASME TRANSACTIONS ON MECHATRONICS

收录刊物：SCIE、EI、Scopus

卷号：20

期号：6

页面范围：3170-3181

ISSN号：1083-4435

关键字：Inertial measurement unit (IMU); inertial navigation system (INS); pedestrian navigation system (PNS); stancephase detection; zero velocity updates (ZUPT)

摘要：Zero velocity updates (ZUPT) is an effective way for the foot-mounted inertial pedestrian navigation systems. For the ZUPT technique to work properly, it is necessary to correctly detect the stance phase of each gait cycle. An adaptive stance-phase detection method is proposed based solely on an inertial sensor, which deals with the measurement fluctuations in swing and stance phases differently, and applies a clustering algorithm to partition the potential gait phases into true and false clusters, thereby yielding a time threshold to eliminate the false gait phases. The roles of the detection parameters and the relationship between them are analyzed to offer some suggestions for parameter tuning. Detection performance is evaluated with multisubject experimental data collected at varying walking speeds. The evaluation results show that the proposed detection method performs well in the presence of measurement fluctuations, which can make the detection of stance phases more robust and the choice of detection parameters more flexible.