Dual Foot-Mounted Localisation Scheme Employing a Minimum-Distance-Constraint Kalman Filter Under Coloured Measurement Noise
This study proposes a dual foot-mounted localisation scheme with a minimum-distance-constraint (MDC) Kalman filter (KF) for human localisation under coloured measurement noise (CMN). The dual foot-mounted localisation employs inertial measurement unit (IMUs), one on each foot, and is intended for hu...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-10-01
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| Series: | Micromachines |
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| Online Access: | https://www.mdpi.com/2072-666X/15/11/1346 |
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| author | Yuan Xu Jingwen Yu Xiangpeng Wang Teng Li Mingxu Sun |
| author_facet | Yuan Xu Jingwen Yu Xiangpeng Wang Teng Li Mingxu Sun |
| author_sort | Yuan Xu |
| collection | DOAJ |
| description | This study proposes a dual foot-mounted localisation scheme with a minimum-distance-constraint (MDC) Kalman filter (KF) for human localisation under coloured measurement noise (CMN). The dual foot-mounted localisation employs inertial measurement unit (IMUs), one on each foot, and is intended for human navigation. The KF under CMN (cKF) is then derived from the data-fusion model of the proposed navigation scheme. Finally, the MDC condition is designed and an MDC–cKF model is proposed to reduce the error in the IMUs. Empirical results showed that the proposed method effectively improves the navigation accuracy from that of MDC–KF, which neglects the effect of CMN. |
| format | Article |
| id | doaj-art-8365a565a2234d04b14fd56501fc950c |
| institution | OA Journals |
| issn | 2072-666X |
| language | English |
| publishDate | 2024-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Micromachines |
| spelling | doaj-art-8365a565a2234d04b14fd56501fc950c2025-08-20T01:54:03ZengMDPI AGMicromachines2072-666X2024-10-011511134610.3390/mi15111346Dual Foot-Mounted Localisation Scheme Employing a Minimum-Distance-Constraint Kalman Filter Under Coloured Measurement NoiseYuan Xu0Jingwen Yu1Xiangpeng Wang2Teng Li3Mingxu Sun4School of Electrical Engineering, University of Jinan, Jinan 250022, ChinaSchool of Electrical Engineering, University of Jinan, Jinan 250022, ChinaSchool of Electrical Engineering, University of Jinan, Jinan 250022, ChinaSchool of Electrical Engineering, University of Jinan, Jinan 250022, ChinaSchool of Electrical Engineering, University of Jinan, Jinan 250022, ChinaThis study proposes a dual foot-mounted localisation scheme with a minimum-distance-constraint (MDC) Kalman filter (KF) for human localisation under coloured measurement noise (CMN). The dual foot-mounted localisation employs inertial measurement unit (IMUs), one on each foot, and is intended for human navigation. The KF under CMN (cKF) is then derived from the data-fusion model of the proposed navigation scheme. Finally, the MDC condition is designed and an MDC–cKF model is proposed to reduce the error in the IMUs. Empirical results showed that the proposed method effectively improves the navigation accuracy from that of MDC–KF, which neglects the effect of CMN.https://www.mdpi.com/2072-666X/15/11/1346minimum-distance-constraintKalman filtercoloured measurement noise (CMN) |
| spellingShingle | Yuan Xu Jingwen Yu Xiangpeng Wang Teng Li Mingxu Sun Dual Foot-Mounted Localisation Scheme Employing a Minimum-Distance-Constraint Kalman Filter Under Coloured Measurement Noise Micromachines minimum-distance-constraint Kalman filter coloured measurement noise (CMN) |
| title | Dual Foot-Mounted Localisation Scheme Employing a Minimum-Distance-Constraint Kalman Filter Under Coloured Measurement Noise |
| title_full | Dual Foot-Mounted Localisation Scheme Employing a Minimum-Distance-Constraint Kalman Filter Under Coloured Measurement Noise |
| title_fullStr | Dual Foot-Mounted Localisation Scheme Employing a Minimum-Distance-Constraint Kalman Filter Under Coloured Measurement Noise |
| title_full_unstemmed | Dual Foot-Mounted Localisation Scheme Employing a Minimum-Distance-Constraint Kalman Filter Under Coloured Measurement Noise |
| title_short | Dual Foot-Mounted Localisation Scheme Employing a Minimum-Distance-Constraint Kalman Filter Under Coloured Measurement Noise |
| title_sort | dual foot mounted localisation scheme employing a minimum distance constraint kalman filter under coloured measurement noise |
| topic | minimum-distance-constraint Kalman filter coloured measurement noise (CMN) |
| url | https://www.mdpi.com/2072-666X/15/11/1346 |
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