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2021 | OriginalPaper | Chapter

A Novel Kalman Filter Algorithm Using Stance Detection for an Inertial Navigation System

Authors : Zhijian Shi, Ruochen Feng, Rui Lin, Gareth Peter Lewis

Published in: Communications, Signal Processing, and Systems

Publisher: Springer Singapore

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Abstract

In this paper, a modified Kalman filter with stance detection is proposed. By utilizing this stance information, the proposed Kalman filter can improve the performance of a personal inertial navigation system (INS) using microelectromechanical system (MEMS). Experiment results have confirmed that the proposed system significantly improves the performance of an INS even under harsh magnetic environment.

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Metadata
Title
A Novel Kalman Filter Algorithm Using Stance Detection for an Inertial Navigation System
Authors
Zhijian Shi
Ruochen Feng
Rui Lin
Gareth Peter Lewis
Copyright Year
2021
Publisher
Springer Singapore
Book
Communications, Signal Processing, and Systems

Print ISBN: 978-981-15-8410-7

Electronic ISBN: 978-981-15-8411-4

Copyright Year: 2021

DOI
https://doi.org/10.1007/978-981-15-8411-4_260