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| Publication type: |
Article |
| Author: |
Tom Koller, Udo Frese |
| Title: |
State Observability through Prior Knowledge: Tracking Track Cyclers with Inertial Sensors |
| Journal: |
International Conference on Indoor Positioning and Indoor Navigation IPIN at Pisa, Italy |
| Year published: |
2019 |
| Abstract: |
Inertial Navigation Systems suffer from unbounded
errors on the position and orientation estimate. This drift can
be corrected by applying prior knowledge, instead of using
exteroceptive sensors. Analysing the state observability induced
by prior knowledge motivates us to track bikers in track cycling
races. In this paper, we show that the pose of the bikers can be
estimated with an IMU as the only sensor by using a heightmap
of the track and the knowledge that the biker drives forward.
We present a dataset with three 60-round trials and evaluate the
state estimate. We show that the influences of the priors match
the expectation derived from state observability analysis.
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| PDF Version: |
http://www.informatik.uni-bremen.de/agebv2/downloads/published/ipin19.pdf |
| Note / Comment: |
Copyright IEEE |
| Status: |
Reviewed |
| Last updated: |
02. 09. 2020 |
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