Integration of foot-mounted inertial sensors into a Bayesian location estimation framework

An algorithm for integrating foot-mounted inertial sensors into a Bayesian location estimation framework is presented. The proposed integration scheme is based on a cascaded estimation architecture. A lower Kalman filter is used to estimate the step-wise change of position and direction of the foot. These estimates are used in turn as measurements in an upper particle filter, which is able to incorporate nonlinear map-matching techniques. Experimental data is used to verify the proposed algorithm.