Hostname: page-component-76d6cb85b7-xh428 Total loading time: 0 Render date: 2026-07-21T21:13:30.000Z Has data issue: false hasContentIssue false
  • English
  • Français

Heuristic Reduction of Gyro Drift for Personnel Tracking Systems

Published online by Cambridge University Press:  22 December 2008

Johann Borenstein ,
Lauro Ojeda  and
Surat Kwanmuang
Johann Borenstein*
Affiliation:
(University of Michigan)
Lauro Ojeda
Affiliation:
(University of Michigan)
Surat Kwanmuang
Affiliation:
(University of Michigan)
*
(Email: johannb@umich.edu)
Get access Rights & Permissions [Opens in a new window]

Abstract

The paper pertains to the reduction of measurement errors in gyroscopes used for tracking the position of walking persons. Such tracking systems commonly use inertial or other means to measure distance travelled, and one or more gyros to measure changes in heading. MEMS-type gyros or IMUs are best suited for this task because of their small size and low weight. However, these gyros have large drift rates and can be sensitive to accelerations. The Heuristic Drift Reduction (HDR) method presented in this paper estimates the drift component and eliminates it, reducing heading errors by almost one order of magnitude.

Keywords

GyroscopesHeuristic DriftTracking

Information

Type
Research Article
Information
The Journal of Navigation , Volume 62 , Issue 1 , January 2009 , pp. 41 - 58
Copyright
Copyright © The Royal Institute of Navigation 2008

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

REFERENCES

Ayyappa, E. (1997). “Normal Human Locomotion, Part 1: Basic Concepts and Terminology.” Journal of Prosthetics & Orthotics, 9, 10–17.CrossRefGoogle Scholar
Basnayake, C., Mezentsev, O., Lachapelle, G., and Cannon, M.E. (2005). “An HSGPS, inertial and map-matching integrated portable vehicular navigation system for uninterrupted real-time vehicular navigation.” International Journal of Vehicle Information and Communication Systems, 1, 131–151.CrossRefGoogle Scholar
Cavallo, F.Sabatini, A.M., and Genovese, V. (2005). “A step toward GPS/INS personal navigation systems: real-time assessment of gait by foot inertial sensing.” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Diego, CA.CrossRefGoogle Scholar
Chen, X. (2004). “Modeling Temperature Drift of FOG by Improved BP Algorithm and by Gauss-Newton Algorithm.”Lecture Notes in Computer Science – Springer Berlin/Heidelberg.CrossRefGoogle Scholar
Grejner-Brzezinska, D.A., Toth, C., Moafipoor, S., Jwa, Y., and Kwon, J. (2006). “Multi-sensor personal navigator supported by human motion dynamics model.” Proceedings of the 3 rdIAG/12 thFIG Symposium, Baden, Austria.Google Scholar
Grewal, M.S., Weill, L.R., and Andrews, A.P. (2007). “Global Positioning Systems, Inertial Navigation, and Integration.” John Wiley & Sons, Inc.CrossRefGoogle Scholar
IEEE Standards (1996). “IEEE Standard Specification Format Guide and Test Procedure for Single-Axis Interferometric Fiber Optic Gyros.”Google Scholar
MemSense, LLC, http://www.memsense.com, Rapid City, SD, last accessed: August 2008.Google Scholar
Mohinder, S. Grewal, Lawrence, R. Weill, Angus, P. Andrews, 2002, “Global Positioning Systems, Inertial Navigation, and Integration” Copyright 2001 John Wiley & Sons, Inc.Google Scholar
Ojeda, L. and Borenstein, J. (2007a). “Non-GPS Navigation with the Personal Dead-reckoning System.” Proceedings of the SPIE Defense and Security Conference, Unmanned Systems Technology IX, Orlando, Florida.CrossRefGoogle Scholar
Ojeda, L. and Borenstein, J., (2007b). “Non-GPS Navigation for Security Personnel and Emergency Responders.” The Journal of Navigation. 60, 391–407.CrossRefGoogle Scholar
Pandit, S.M. and Zang, W. (1986). “Modeling Random Gyro Drift Rate by Data Dependent Systems.” IEEE Transactions on Aerospace and Electronic Systems, AES-22, 455–460.CrossRefGoogle Scholar
Cho, S.Y., Lee, K.W., Park, C.G., and Lee, J.G. (2003). “A Personal Navigation System Using Low-Cost MEMS/GPS/Fluxgate.” Proceedings of the 59 thInstitute of Navigation (ION) Annual Meeting, Albuquerque, NM.Google Scholar
Yun, X., Bachmann, E.R., Moore, H. IV, and Calusdian, J., (2007). “Self-contained Position Tracking of Human Movement Using Small Inertial/Magnetic Sensor Modules.” Proceedings of the 2007 IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy.CrossRefGoogle Scholar