A novel body motion model based personal dead-reckoning system

This paper presents a novel human body motion model based dead reckoning approach. After brief description of system overview, a new body motion model is given based on the inherent relationship between step frequency and step length existed in two common motion patterns: walking and running. The parameter calibration of the model is given as well. Upon receiving the data from sensors, step frequency is first computed by detecting the periodic changing of linear acceleration in vertical axis, and then the real-time footstep length can be obtained according to the proposed motion model. Angular velocity measurement produced by vertical gyroscope is filtered and integrated by Kalman filter to obtain motion direction change. With movement distance and direction in hand, dead-reckoning can be easily carried out. Experimental results based on real data acquired under different motion patterns show the promising performance of the system.