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Tutorial : implementation of a pedestrian tracker using foot-mounted inertial sensors

Fischer, Carl and Talkad Sukumar, Poorna and Hazas, Mike (2013) Tutorial : implementation of a pedestrian tracker using foot-mounted inertial sensors. IEEE Pervasive Computing, 12 (2). pp. 17-27. ISSN 1536-1268

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    Wearable inertial sensors are a convenient way to track pedestrians in situations where other localisation systems fail. More and more researchers are using inertial pedestrian tracking as a component in more complex applications. But despite the many publications on the topic, and the increasing availability of inertial sensors, implementing a reasonably accurate tracker can be challenging for researchers without a background in inertial navigation and Kalman filtering. With this article, we aim to provide fellow researchers with a simple yet effective implementation which works out of the box, but with enough clear explanations and references to allow for further investigation if required. We discuss common mistakes and practical aspects, such as parameter tuning and choice of sensors, which we found to be lacking in other work. The Matlab implementation and a few sample recordings are available online at

    Item Type: Journal Article
    Journal or Publication Title: IEEE Pervasive Computing
    Additional Information: Accepted for publication on 2011-12-30. Scheduled publication in the April-June 2013 issue on "Tracking and Sensing in the Wild".
    Subjects: ?? qa75 ??
    Departments: Faculty of Science and Technology > School of Computing & Communications
    ID Code: 57466
    Deposited By: ep_importer_pure
    Deposited On: 14 Aug 2012 17:02
    Refereed?: Yes
    Published?: Published
    Last Modified: 18 Sep 2018 03:43
    Identification Number:

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