Step Length Estimation Algorithm for Firefighter using Linear Calibration

선형 보정을 이용한 구난요원의 보폭 추정 알고리즘

  • Received : 2012.09.07
  • Accepted : 2013.05.16
  • Published : 2013.07.01


This paper presents a step length estimation algorithm for Pedestrian Dead Reckoning using linear calibrated ZUPT (zero velocity update) with a foot mounted IMU. The IMU consists of 3 axis accelerometer, gyro and magnetometer. Attitude of IMU is estimated using an inertial navigation algorithm. To increase accuracy of step length estimation algorithm, we propose a stance detection algorithm and an enhanced ZUPT. The enhanced ZUPT calculates firefighter's step length considering velocity error caused by sensor bias during one step. This algorithm also works efficiently at various motions, such as crawling, sideways and stair stepping. Through experiments, the step length estimation performance of the proposed algorithm is verified.


step length estimation;ZUPT;PDR;firefighter;IMU


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Cited by

  1. Kinematic Model-Based Pedestrian Dead Reckoning for Heading Correction and Lower Body Motion Tracking vol.15, pp.11, 2015,


Grant : 재난예방 및 국민안전제고를 위한 위성기반 위치추적기술 연구

Supported by : 기초기술연구회