Infrastructure-autonomous Shoe-mounted Indoor-Navigation

An Inertial Measurement Unit (IMU), consisting of a triad of accelerometers and gyroscopes which are mounted on a shoe, are used to compute a continuous trajectory. The Navigation Solution is largely influenced by the errors of the MEMS-sensors. The error in position due to the double-integration quadratically increases over time which results in an unusable position estimation. Detecting the correct stilltime of the user, it is possible to correct the navigation state vector. This has also an effect on the quality of the orientation and position computation.

An arbitrary trajectory computed by NAVKA is shown in the above figure for an approx. 120 second long  "run" in a georeferenced building (at the campus of the HsKA).

Link to Video 1
Link to Video 2