Gait Analysis for Pedestrian Navigation Using MEMS Handheld Devices [article]

Melania Susi, University Of Calgary, University Of Calgary, Gerard Lachapelle, Valerie Renaudin
Advances in Micro-Electro-Mechanical Systems (MEMS) technology play a central role in the design of new generation of smartphones. Indeed MEMS sensors, such as accelerometers and gyroscopes, are currently embedded in most smart devices in order to augment their capabilities. In the near future, it is expected that these sensors will be further exploited for pedestrian navigation purposes. However, the processing of signals from MEMS sensors cannot provide accurate navigation solutions without
more » ... ternal aiding, e.g. from GNSS (Global Navigation Satellite Systems) signals, since their signals deteriorate due to significant errors, principally biases and drift which requires frequent sensor resets. When GNSS is not available and the sensors are mounted on the user's foot, periodic zero velocity updates can be performed during the identified stance phases of the foot, namely the periods when the foot is flat on the ground. In the case of handheld devices, this approach cannot be adopted, since zero velocity periods are not present. Furthermore, when the sensors are held in a hand, the sensed motion can be decoupled from the global user's motion rendering the situation much more complex to deal with. For this reason previous studies on pedestrian navigation are mainly focused on the body fixed sensor case. In this thesis, algorithms for characterizing the gait cycle of a pedestrian holding an IMU (Inertial Measurement Unit) in hand are proposed but without constraining the user in its behaviour and thus taking into account several sensor carrying modes. In view of the variety and complexity of human motions, the recognition of the user's global motion from handheld devices is first thoroughly examined. A classifier able to recognize several different motion modes, including standing, walking, running, climbing and descending the stairs, is designed and implemented. Then an algorithm for evaluating the linear displacement of a pedestrian walking on a flat plane using only a handheld IMU is proposed. The complete algorit [...]
doi:10.11575/prism/26254 fatcat:ppt6qjpi3bdudnfjdgppcyvby4