INERTIAL POCKET NAVIGATION SYSTEM: UNAIDED 3D POSITIONING. Sensors 2015, 15, 9156-9178.
You can download the article here.
Please, follow this link to download the additional files.
In the zip folder you can find:
Walk1.txt, Walk2.txt, Walk3.txt, Walk4.txt
- This is the inertial data of the experiments presented in this article. Walk1, Walk2 and Walk4 are evaluated in Section 7.1. and Walk1, Walk2 and Walk3 in Section 7.2. Download it if you want to test your step detector and step length estimator. The second part of Walk4, the walking downstairs, is represented in Figure 11.
PitchWalks.jpg, FrequencyWalks.jpg
- This is the picture of the odometries with the map superimposed of the three walks of the experiments presented in Section 7.2. Download it if you want to have a narrower idea of the advantages and disadvantages of each step length estimation method: with the pitch angle and with the frequency. The blue line represents Walk1, the red line Walk2 and the green line Walk3. The odometries of this article have been estimated without magnetometer.
PitchWalk1.kml, PitchWalk2.kml, PitchWalk3.kml FreqWalk1.kml, FreqWalk2.kml, FreqWalk3.kml
- This is the kml file of the odometries of the three walks of the experiments presented in Section 7.2. Download it if you want to compare your results with the results obtained in this article using GoogleEarth.
WalkingRunning.pdf
- This is an additional image for Section 7.2. that shows the complete range of speeds for a pedestrian representing the pitch angle against the step length. A model more complex than the linear regression for the step length estimation may yield more accurate results.
DeutschesMuseum.txt
- This is the raw data of the walk carried out in the Deutsches Museum presented in Section 7.3. Download it if you want to try your navigation system and compare it with the walk evaluated in this article. The odometries of this article have been estimated without magnetometer.
DeutschesMuseum.fig
- This is the 3D fig file of the walk carried out in the Deutsches Museum presented in Section 7.3. Download it if you want to play with the figure: zoom it, try different views… Remember that this figure has a compensated drift. My next article will present an automatic drift compensation algorithm for inertial dead-reckoning navigation systems.
You can have a look at the video of the Deutsches Museum Walk. By watching this video you have a clear idea of the real life experiments we have carried out for this article. The pocket navigation system only requires introducing the sensor in the pocket and walking freely. Stops and changes of speed or direction due to a crowded real world scenario do not cause trouble. This may additionally help you to understand better which steps up and down are not detected. The sensor is carried in the right pocket.