pajaraca / iez

An INS-EKF-ZUPT for Pedestrian Dead Reckoning

IEZ

An Inertial Navigation System - Extended Kalman Filter - ZUPT for Pedestrian Dead Reckoning (IEZ-PDR).

Datasets:

All dataset where collected using two foot mounteds MPU6050 at 100Hz and each file has two sets of measurements.

References:

[1] FISCHER, Carl; SUKUMAR, Poorna Talkad; HAZAS, Mike. Tutorial: Implementing a pedestrian tracker using inertial sensors. IEEE pervasive computing, v. 12, n. 2, p. 17-27, 2012.
[2] JIMÉNEZ, Antonio Ramón et al. Indoor pedestrian navigation using an INS/EKF framework for yaw drift reduction and a foot-mounted IMU. In: 2010 7th workshop on positioning, navigation and communication. IEEE, 2010. p. 135-143.
[3] FOXLIN, Eric. Pedestrian tracking with shoe-mounted inertial sensors. IEEE Computer graphics and applications, v. 25, n. 6, p. 38-46, 2005.
[4] ROCHA, Rodolfo Nícolas et al. Avaliação de Unidade de Medição Inercial Utilizando Técnicas de Reconstrução de Trajetória de Pedestres. In: Anais Estendidos do XI Simpósio Brasileiro de Engenharia de Sistemas Computacionais. SBC, 2021. p. 24-31.

iez's Issues

Gathering the data

Hi! Could you tell me more or share some code used to gather the data from the MPU6050, please? I believe we have got the same sensor but I'm unable to get the data in the same value range as the data provided in this repository. Thanks!

Question: Units for the Graphs

Hi,

I just wanted to know what are the units used for the graphs. after conversion to acceleration. i assume it is in meters?