Pedestrian dead reckoning with attitude estimation using a fuzzy logic tuned adaptive kalman filter

Mariana N. Ibarra-Bonilla; P. Jorge Escamilla-Ambrosio; J. Manuel Ramirez-Cortes; Carlos Vianchada

doi:10.1109/LASCAS.2013.6519054

Pedestrian dead reckoning with attitude estimation using a fuzzy logic tuned adaptive kalman filter

Mariana N. Ibarra-Bonilla, P. Jorge Escamilla-Ambrosio, J. Manuel Ramirez-Cortes, Carlos Vianchada

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

10 Scopus citations

Abstract

This paper presents a fuzzy logic-based pedestrian dead reckoning system relying on information derived from an inertial measurement unit (IMU) and a triaxial gyroscope. Attitude estimation is performed using a fuzzy logic tuned adaptive Kalman filter on the information fusion process. Adaptive tuning of the covariance matrices corresponding to the process and measurement noise, is carried out using a fuzzy inference system on the filter innovation sequence through a covariance-matching technique. Pedestrian walk estimation is also performed through a fuzzy logic approach which characterizes frequency and length step. Preliminary results showed an accumulate error around 6.4 % in average.

Original language	English
Title of host publication	2013 IEEE 4th Latin American Symposium on Circuits and Systems, LASCAS 2013 - Conference Proceedings
DOIs	https://doi.org/10.1109/LASCAS.2013.6519054
State	Published - 2013
Externally published	Yes
Event	2013 IEEE 4th Latin American Symposium on Circuits and Systems, LASCAS 2013 - Cusco, Peru Duration: 27 Feb 2013 → 1 Mar 2013

Publication series

Name	2013 IEEE 4th Latin American Symposium on Circuits and Systems, LASCAS 2013 - Conference Proceedings

Conference

Conference	2013 IEEE 4th Latin American Symposium on Circuits and Systems, LASCAS 2013
Country/Territory	Peru
City	Cusco
Period	27/02/13 → 1/03/13

Access to Document

10.1109/LASCAS.2013.6519054

Cite this

Ibarra-Bonilla, M. N., Escamilla-Ambrosio, P. J., Ramirez-Cortes, J. M., & Vianchada, C. (2013). Pedestrian dead reckoning with attitude estimation using a fuzzy logic tuned adaptive kalman filter. In 2013 IEEE 4th Latin American Symposium on Circuits and Systems, LASCAS 2013 - Conference Proceedings Article 6519054 (2013 IEEE 4th Latin American Symposium on Circuits and Systems, LASCAS 2013 - Conference Proceedings). https://doi.org/10.1109/LASCAS.2013.6519054

Ibarra-Bonilla, Mariana N. ; Escamilla-Ambrosio, P. Jorge ; Ramirez-Cortes, J. Manuel et al. / Pedestrian dead reckoning with attitude estimation using a fuzzy logic tuned adaptive kalman filter. 2013 IEEE 4th Latin American Symposium on Circuits and Systems, LASCAS 2013 - Conference Proceedings. 2013. (2013 IEEE 4th Latin American Symposium on Circuits and Systems, LASCAS 2013 - Conference Proceedings).

@inproceedings{24bdc93f3c2b45e49f6c4df3d0392650,

title = "Pedestrian dead reckoning with attitude estimation using a fuzzy logic tuned adaptive kalman filter",

abstract = "This paper presents a fuzzy logic-based pedestrian dead reckoning system relying on information derived from an inertial measurement unit (IMU) and a triaxial gyroscope. Attitude estimation is performed using a fuzzy logic tuned adaptive Kalman filter on the information fusion process. Adaptive tuning of the covariance matrices corresponding to the process and measurement noise, is carried out using a fuzzy inference system on the filter innovation sequence through a covariance-matching technique. Pedestrian walk estimation is also performed through a fuzzy logic approach which characterizes frequency and length step. Preliminary results showed an accumulate error around 6.4 % in average.",

author = "Ibarra-Bonilla, {Mariana N.} and Escamilla-Ambrosio, {P. Jorge} and Ramirez-Cortes, {J. Manuel} and Carlos Vianchada",

year = "2013",

doi = "10.1109/LASCAS.2013.6519054",

language = "Ingl{\'e}s",

isbn = "9781424494859",

series = "2013 IEEE 4th Latin American Symposium on Circuits and Systems, LASCAS 2013 - Conference Proceedings",

booktitle = "2013 IEEE 4th Latin American Symposium on Circuits and Systems, LASCAS 2013 - Conference Proceedings",

note = "2013 IEEE 4th Latin American Symposium on Circuits and Systems, LASCAS 2013 ; Conference date: 27-02-2013 Through 01-03-2013",

}

Ibarra-Bonilla, MN, Escamilla-Ambrosio, PJ, Ramirez-Cortes, JM & Vianchada, C 2013, Pedestrian dead reckoning with attitude estimation using a fuzzy logic tuned adaptive kalman filter. in 2013 IEEE 4th Latin American Symposium on Circuits and Systems, LASCAS 2013 - Conference Proceedings., 6519054, 2013 IEEE 4th Latin American Symposium on Circuits and Systems, LASCAS 2013 - Conference Proceedings, 2013 IEEE 4th Latin American Symposium on Circuits and Systems, LASCAS 2013, Cusco, Peru, 27/02/13. https://doi.org/10.1109/LASCAS.2013.6519054

Pedestrian dead reckoning with attitude estimation using a fuzzy logic tuned adaptive kalman filter. / Ibarra-Bonilla, Mariana N.; Escamilla-Ambrosio, P. Jorge; Ramirez-Cortes, J. Manuel et al.
2013 IEEE 4th Latin American Symposium on Circuits and Systems, LASCAS 2013 - Conference Proceedings. 2013. 6519054 (2013 IEEE 4th Latin American Symposium on Circuits and Systems, LASCAS 2013 - Conference Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Vianchada, Carlos

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N2 - This paper presents a fuzzy logic-based pedestrian dead reckoning system relying on information derived from an inertial measurement unit (IMU) and a triaxial gyroscope. Attitude estimation is performed using a fuzzy logic tuned adaptive Kalman filter on the information fusion process. Adaptive tuning of the covariance matrices corresponding to the process and measurement noise, is carried out using a fuzzy inference system on the filter innovation sequence through a covariance-matching technique. Pedestrian walk estimation is also performed through a fuzzy logic approach which characterizes frequency and length step. Preliminary results showed an accumulate error around 6.4 % in average.

AB - This paper presents a fuzzy logic-based pedestrian dead reckoning system relying on information derived from an inertial measurement unit (IMU) and a triaxial gyroscope. Attitude estimation is performed using a fuzzy logic tuned adaptive Kalman filter on the information fusion process. Adaptive tuning of the covariance matrices corresponding to the process and measurement noise, is carried out using a fuzzy inference system on the filter innovation sequence through a covariance-matching technique. Pedestrian walk estimation is also performed through a fuzzy logic approach which characterizes frequency and length step. Preliminary results showed an accumulate error around 6.4 % in average.

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DO - 10.1109/LASCAS.2013.6519054

M3 - Contribución a la conferencia

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Ibarra-Bonilla MN, Escamilla-Ambrosio PJ, Ramirez-Cortes JM, Vianchada C. Pedestrian dead reckoning with attitude estimation using a fuzzy logic tuned adaptive kalman filter. In 2013 IEEE 4th Latin American Symposium on Circuits and Systems, LASCAS 2013 - Conference Proceedings. 2013. 6519054. (2013 IEEE 4th Latin American Symposium on Circuits and Systems, LASCAS 2013 - Conference Proceedings). doi: 10.1109/LASCAS.2013.6519054

Pedestrian dead reckoning with attitude estimation using a fuzzy logic tuned adaptive kalman filter

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