Indoor Pedestrian Navigation Based on Conditional Random Field Algorithm

Foot-mounted micro-electromechanical systems (MEMS) inertial sensors based on pedestrian navigation can be used for indoor localization. We previously developed a novel zero-velocity detection algorithm based on the variation in speed over a gait cycle, which can be used to correct positional errors. However, the accumulation of heading errors cannot be corrected and thus, the system suffers from considerable drift over time. In this paper, we propose a map-matching technique based on conditional random fields (CRFs). Observations are chosen as positions from the inertial navigation system (INS), with the length between two consecutive observations being the same. This is different from elsewhere in the literature where observations are chosen based on step length. Thus, only four states are used for each observation and only one feature function is employed based on the heading of the two positions. All these techniques can reduce the complexity of the algorithm. Finally, a feedback structure is employed in a sliding window to increase the accuracy of the algorithm. Experiments were conducted in two sites with a total of over 450 m in travelled distance and the results show that the algorithm can efficiently improve the long-term accuracy

Improving Positioning Accuracy via Map Matching Algorithm for Visual–Inertial Odometer

A visual–inertial odometer is used to fuse the image information obtained by a vision sensor with the data measured by an inertial sensor and recover the motion track online in a global frame. However, in an indoor environment, geometric transformation, sparse features, illumination changes, blurring, and noise will occur, which will either cause a reduction in or failure of the positioning accuracy. To solve this problem, a map matching algorithm based on an indoor plane structure map is proposed to improve the positioning accuracy of the system; this algorithm was implemented using a conditional random field model. The output of the attitude information from the visual–inertial odometer was used as the input of the conditional random field model. The feature function between the attitude information and the expected value was established, and the maximum probabilistic value of the attitude was estimated. Finally, the closed-loop feedback correction of the visual–inertial system was carried out with the probabilistic attitude value. A number of experiments were designed to verify the feasibility and reliability of the positioning method proposed in this paper

A Novel Pedestrian Navigation Algorithm for a Foot-Mounted Inertial-Sensor-Based System

This paper proposes a novel zero velocity update (ZUPT) method for a foot-mounted pedestrian navigation system (PNS). First, the error model of the PNS is developed and a Kalman filter is built based on the error model. Second, a novel zero velocity detection algorithm based on the variations in speed over a gait cycle is proposed. A finite state machine including three states is employed to model a gait cycle. The state transition conditions are determined based on speed using a sliding window. Third, the ZUPT software flow is illustrated and described. Finally, the performances of the proposed method and other methods are examined and compared experimentally. The experimental results show that the mean relative accuracy of the proposed method is 0.89% under various motion modes

Spatial Resolution of an Inorganic Crystal-Based Hard X-Ray Imager

Gigahertz hard X-ray imaging presents an unprecedented challenge to both timing and spatial resolutions for inorganic scintillator-based front imagers. A beam test with 30-keV X-rays from the Advanced Photon Source (APS) showed that 5-mm BaF₂ plates resolve well 30-keV X-ray septuplets of 27-ps width and 2.83-ns spacing. Pixelated crystal screens with a pitch down to 400 μm were fabricated by mechanic slicing for BaF₂, BaF₂:Y, and LYSO crystals. Their spatial resolution and detection efficiency for hard X-rays are defined by the pitch and thickness, respectively. Thicker monolithic crystal screens show poorer spatial resolution, which may be improved using a small optical aperture with a loss in both efficiency and dynamic range for hard X-rays. Future plans include pursuing smaller crystal pitches by laser slicing and research and development on novel ultrafast inorganic scintillators

Spatial Resolution of an Inorganic Crystal-Based Hard X-Ray Imager

Gigahertz hard X-ray imaging presents an unprecedented challenge to both timing and spatial resolutions for inorganic scintillator-based front imagers. A beam test with 30-keV X-rays from the Advanced Photon Source (APS) showed that 5-mm BaF₂ plates resolve well 30-keV X-ray septuplets of 27-ps width and 2.83-ns spacing. Pixelated crystal screens with a pitch down to 400 μm were fabricated by mechanic slicing for BaF₂, BaF₂:Y, and LYSO crystals. Their spatial resolution and detection efficiency for hard X-rays are defined by the pitch and thickness, respectively. Thicker monolithic crystal screens show poorer spatial resolution, which may be improved using a small optical aperture with a loss in both efficiency and dynamic range for hard X-rays. Future plans include pursuing smaller crystal pitches by laser slicing and research and development on novel ultrafast inorganic scintillators

Spatiotemporal trends and ecological determinants in maternal mortality ratios in 2,205 Chinese counties, 2010-2013:A Bayesian modelling analysis

BACKGROUND:As one of its Millennium Development Goals (MDGs), China has achieved a dramatic reduction in the maternal mortality ratio (MMR), although a distinct spatial heterogeneity still persists. Evidence of the quantitative effects of determinants on MMR in China is limited. A better understanding of the spatiotemporal heterogeneity and quantifying determinants of the MMR would support evidence-based policymaking to sustainably reduce the MMR in China and other developing areas worldwide. METHODS AND FINDINGS:We used data on MMR collected by the National Maternal and Child Health Surveillance System (NMCHSS) at the county level in China from 2010 to 2013. We employed a Bayesian space-time model to investigate the spatiotemporal trends in the MMR from 2010 to 2013. We used Bayesian multivariable regression and GeoDetector models to address 3 main ecological determinants of the MMR, including per capita income (PCI), the proportion of pregnant women who delivered in hospitals (PPWDH), and the proportion of pregnant women who had at least 5 check-ups (PPWFC). Among the 2,205 counties, there were 925 (42.0%) hotspot counties, located mostly in China's western and southwestern regions, with a higher MMR, and 764 (34.6%) coldspot counties with a lower MMR than the national level. China's westernmost regions, including Tibet and western Xinjiang, experienced a weak downward trend over the study period. Nationwide, medical intervention was the major determinant of the change in MMR. The MMR decreased by 1.787 (95% confidence interval [CI]: 1.424-2.142, p < 0.001) per 100,000 live births when PPWDH increased by 1% and decreased by 0.623 (95% CI 0.436-0.798, p < 0.001) per 100,000 live births when PPWFC increased by 1%. The major determinants for the MMR in China's western and southwestern regions were PCI and PPWFC, while that in China's eastern and southern coastlands was PCI. The MMR in western and southwestern regions decreased nonsignificantly by 1.111 (95% CI -1.485-3.655, p = 0.20) per 100,000 live births when PCI in these regions increased by 1,000 Chinese Yuan and decreased by 1.686 (95% CI 1.275-2.090, p < 0.001) when PPWFC increased by 1%. Additionally, the western and southwestern regions showed the strongest interactive effects between different factors, in which the corresponding explanatory power of any 2 interacting factors reached up to greater than 80.0% (p < 0.001) for the MMR. Limitations of this study include a relatively short study period and lack of full coverage of eastern coastlands with especially low MMR. CONCLUSIONS:Although China has accomplished a 75% reduction in the MMR, spatial heterogeneity still exists. In this study, we have identified 925 (hotspot) high-risk counties, mostly located in western and southwestern regions, and among which 332 counties are experiencing a slower pace of decrease than the national downward trend. Nationally, medical intervention is the major determinant. The major determinants for the MMR in western and southwestern regions, which are developing areas, are PCI and PPWFC, while that in China's developed areas is PCI. The interactive influence of any two of the three factors, PCI, PPWDH, and PPWFC, in western and southwestern regions was up to and in excess of 80% (p < 0.001)

Inertial Sensors and Their Applications

Due to the universal presence of motion, vibration, and shock, inertial motion sensors can be applied in various contexts. Development of the microelectromechanical (MEMS) technology opens up many new consumer and industrial applications for accelerometers and gyroscopes. The multiformity of applications creates different requirements to inertial sensors in terms of accuracy, size, power consumption and cost. This makes it challenging to choose sensors that are suited best for the particular application. In addition, development of signal processing algorithms for inertial sensor data require understanding on the physical principles of both motion generated and sensor operation principles. This chapter aims to aid the system designer to understand and manage these challenges. The principles of operation of accelerometers and gyroscopes are explained with examples of different applications using inertial sensors data as input. Especially, detailed examples of signal processing algorithms for pedestrian navigation and motion classification are given.acceptedVersionPeer reviewe