Skip to Main content Skip to Navigation
Conference papers

Position Estimation Approach by Complementary Filter-aided IMU for Indoor Environment

Abstract : This paper proposes a foot-mounted Zero Velocity Update (ZVU) aided Inertial Measurement Unit (IMU) filtering algorithm for pedestrian tracking in indoor environment. The algorithm outputs are the foot kinematic parameters, which include foot orientation, position, velocity, acceleration, and gait phase. The foot motion filtering algorithm incorporates methods for orientation estimation, gait detection, and position estimation. A novel Complementary Filter (CF) is introduced to better pre-process the sensor data from a foot-mounted IMU containing tri-axial angular rate sensors, accelerometers, and magnetometers and to estimate the foot orientation without resorting to GPS data. A gait detection is accomplished using a simple states detector that transitions between states based on acceleration measurements. Once foot orientation is computed, position estimates are obtained by using integrating acceleration and velocity data, which has been corrected at step stance phase for drift using an implemented ZVU algorithm, leading to a position accuracy improvement. We illustrate our findings experimentally by using of a commercial IMU during regular human walking trial in a typical public building. Experiment results show that the positioning approach achieves approximately a position accuracy less than 1 m and improves the performance regarding a previous work of literature.
Document type :
Conference papers
Complete list of metadatas

Cited literature [18 references]  Display  Hide  Download
Contributor : Hassen Fourati <>
Submitted on : Tuesday, March 5, 2013 - 3:18:12 PM
Last modification on : Thursday, July 9, 2020 - 5:02:03 PM
Document(s) archivé(s) le : Thursday, June 6, 2013 - 3:59:30 AM


Files produced by the author(s)


  • HAL Id : hal-00797042, version 1


Hassen Fourati, Noureddine Manamanni. Position Estimation Approach by Complementary Filter-aided IMU for Indoor Environment. 12th biannual European Control Conference (ECC 2013), Jul 2013, Zurich, Switzerland. pp.4028-4213. ⟨hal-00797042⟩



Record views


Files downloads