16 research outputs found
Author manuscript, published in "12th biannual European Control Conference (ECC 2013), Zurich: Switzerland (2013)" Position Estimation Approach by Complementary Filter-aided IMU for Indoor Environment
Abstract—This paper proposes a foot-mounted Zero Velocity Update (ZVU) aided Inertial Measurement Unit (IMU) filtering algorithm for pedestrian tracking in indoor environment. The algorithm outputs are the foot kinematic parameters, which include foot orientation, position, velocity, acceleration, and gait phase. The foot motion filtering algorithm incorporates methods for orientation estimation, gait detection, and position estimation. A novel Complementary Filter (CF) is introduced to better pre-process the sensor data from a foot-mounted IMU containing tri-axial angular rate sensors, accelerometers, and magnetometers and to estimate the foot orientation without resorting to GPS data. A gait detection is accomplished using a simple states detector that transitions between states based on acceleration measurements. Once foot orientation is computed, position estimates are obtained by using integrating acceleration and velocity data, which has been corrected at step stance phase for drift using an implemented ZVU algorithm, leading to a position accuracy improvement. We illustrate our findings experimentally by using of a commercial IMU during regular human walking trial in a typical public building. Experiment results show that the positioning approach achieves approximately a position accuracy less than 1 m and improves the performance regarding a previous work of literature. P I
Simultaneous estimation of the state and the unknown inputs for a class of switched linear systems
International audienc
Design of a robust fault detection based observer for linear switched systems with external disturbances
International audienc
A fault detection & isolation scheme for discrete time Switched Linear Systems
International audienc
State estimation for switched systems described by differential Petri nets models
International audienc
Observer based state feedback control design for switched linear systems: A differential petri net approach
International audienc