Hidden Markov Model-based Pedestrian Navigation System using MEMS Inertial Sensors

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Abstract

In this paper, a foot-mounted pedestrian navigation system using MEMS inertial sensors is implemented, where the zero-velocity detection is abstracted into a hidden Markov model with 4 states and 15 observations. Moreover, an observations extraction algorithm has been developed to extract observations from sensor outputs; sample sets are used to train and optimize the model parameters by the Baum-Welch algorithm. Finally, a navigation system is developed, and the performance of the pedestrian navigation system is evaluated using indoor and outdoor field tests, and the results show that position error is less than 3% of total distance travelled.

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Measurement Science Review

The Journal of Institute of Measurement Science of Slovak Academy of Sciences

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IMPACT FACTOR 2017: 1.345
5-year IMPACT FACTOR: 1.253



CiteScore 2017: 1.61

SCImago Journal Rank (SJR) 2017: 0.441
Source Normalized Impact per Paper (SNIP) 2017: 0.936

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