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Imu

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Nimsiri Abhayasinghe
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5 views

Imu

Uploaded by

Nimsiri Abhayasinghe
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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IMU based gait analysis

and pedestrian navigation:


An Engineering Perspective
Dr. Nimsiri Abhayasinghe
Head, Department of Electrical and Electronic Engineering
Sri Lanka Institute of Information Technology
Sri Lanka
Outline
• What are IMUs
• Features, advantages and disadvantages of MEMS IMUs
• Use of MEMS IMUs in gait analysis and pedestrian navigation
• Different approaches used by researchers
What is an IMU
• IMU – Inertial Measurement Unit
• 3D accelerometer – measure acceleration
• 3D gyroscope – measure angular velocity
• 3D magnetometer (optional) – used to estimate magnetic
heading (north heading)

• Types of IMUs
• Optical based
• MEMS

Apollo Inertial Measurement Unit (Wikipedia)


Applications of IMUs
• Used to estimate the orientation
• Used in:
• Aircrafts
• UAVs
• Spacecrafts
• Also used in human gait analysis and pedestrian navigation
Components of an IMU
• 3D accelerometer – measure acceleration
• 3D gyroscope – measure angular velocity
• 3D magnetometer (optional) – used to estimate magnetic heading
(north heading)
Basics of Orientation

Pitch – Roll – Yaw Euler angles


Orientation Estimation
• Using Accelerometer

• Using Gyroscope
Thigh Angle – Using Accelerometer
only
Thigh Angle - Accelerometer
50

40

30

20

10

0
0 1 2 3 4 5 6 7

-10

-20

-30

-40
Thigh Angle – Using Gyroscope only
Thigh Angle - Gyro
35

30

25

20

15

10

0
0 1 2 3 4 5 6 7

-5

-10
Complementary Filter

•  - const
• In Kalman Filter  is replaced with a variable determined depending
on the consteains.
Thigh Angle – Using Complementary
Filter
Thigh Angle - Combined
25

20

15

10

0
0 1 2 3 4 5 6 7

-5

-10

-15

-20
What is pedestrian navigation and
tracking?
• Guiding people in unknown
environments
• Airports
• Shopping malls
• Pedestrian tracking is necessary to
track there the person is
• GPS may be used in outdoors but not
in indoors
• Other techniques are used in indoors
Pedestrian Indoor Tracking
• Different techniques are used
• Some need infrastructure and others don’t
• Techniques that needs infrastructure:
• WiFi localization
• RFID
• Bluetooth
• Infrastructure less techniques:
• Inertial navigation: track people using inertial sensors
Pedestrian Inertial Navigation
• Track human motion and walking (gait) and track them.
• Inertial sensors are used to track the motion of:
• Trunk
• Legs
• Hands
• Sensors used:
• Accelerometers – 3D acceleration
• Gyroscopes – 3D angular velocity
• Magnetometer – North heading
Body Motion During Walking
Feet movement during walking

Benefit – zero acceleration


point

ZUPT - Zero Velocity Potential


Update
Features of other types of Inertial
Sensors
• Highly accurate
• Low noise
• Minimum sensor drift
• Bulky
• Costly - ~ $100
• May be used in experiments
• Not convenient to be attached to
the body for long term usage
MEMS Inertial Sensors
• MEMS –
Microelectromechanical
systems
• Electro-mechanical
structures and processor in
a same wafer
• Small size
• Low cost ~ $10
• Everything in a single chip
• Convenient
9-Axis Sensor in One Chip
• InvenSense MPU-9150 and MPU-9250
• 3-axis accelerometer
• 3-axis gyroscope
• 3-axis magnetometer
• Motion processor
MEMS Sensors in Pedestrian
Navigation
• Pedometers – step counting
• Mostly accelerometer based
• Low accuracy at slow walking speeds
• Researchers are improving accuracies
• Activity recognition
• Walking distance estimation
• Human Gait Analysis
Drawbacks of MEMS sensors
• Lower accuracies
• High noise content
• Sensor drift
Research Outcomes
• Thigh mounted IMU can be effectively used for human gait analysis in
pedestrian navigation
Gyro Sensor X-axis Reading and Vertical Orientation

Gyro-X (Degrees/s) and Orientation (Degrees)


100
Stride Cycle Gyro-X Filtered at 5 Hz
80 Vertical Orientation
60

40

20

-20

-40

-60

-80
5 6 7 8 9 10
Time (s)
Research Outcomes
• Pedometer with >99% accuracy based on the gyro data of a thigh
mounted IMU Orientation of Thigh with Filtered Gyro-X Reading when Walking on Flat Land

Orientation of Thigh (degrees), Gyro X Reading (×7 rad/sec)


30
Orientation of Thigh Initial Contact
25 Gyro-X Reading

20
Stride Cycle
15

10

-5

-10

-15
2 2.5 3 3.5 4 4.5 5
Time (s)
Research Outcomes
• Human Gait modeling with high accuracy
Research Outcomes
• Gait phase recognition using a thigh mounted IMU
Useful Links and references
• https://www.youtube.com/watch?v=C7JQ7Rpwn2k
• https://invensense.tdk.com/products/motion-tracking/9-axis/
• https://espace.curtin.edu.au/handle/20.500.11937/280

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