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We consider stand still detection for indoor localization based on observations from a foot-mounted inertial measurement unit (IMU). The main contribution is a statistical framework for stand-still detection, which is a fundamental step in zero velocity update (ZUPT) to reduce the drift from cubic to linear in time. First, the observations are transformed to a test statistic having non-central chi-square...
This paper details an approach to the integration of INS (inertial navigation system) and TAP (terrain-aided positioning). The solution is characterized by a joint design of INS and TAP, meaning that the highly nonlinear TAP is not designed separately but jointly with the INS using one and the same filter. The applied filter extends the theory of the MPF (marginalized particle filter) given by. The...
In augmented reality (AR), the position and orientation of the camera have to be estimated with high accuracy and low latency. This nonlinear estimation problem is studied in the present paper. The proposed solution makes use of measurements from inertial sensors and computer vision. These measurements are fused using a Kalman filtering framework, incorporating a rather detailed model for the dynamics...
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