Radar Update (RUPT): A Pedestrian Navigation System with Enhanced Trajectory Performance
- Resource Type
- Authors
- Wenyu Peng; Kemeng Li; Chai Jin; Bo Yan; Zhuoling Xiao; He Yi; Yuquan Dai
- Source
- ISCAS
- Subject
- Data processing
Radar tracker
Computer science
business.industry
Real-time computing
ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION
Tracking system
law.invention
law
Inertial measurement unit
Dead reckoning
Trajectory
ComputerSystemsOrganization_SPECIAL-PURPOSEANDAPPLICATION-BASEDSYSTEMS
Radar
business
Inertial navigation system
- Language
To alleviate the dependence on sensor quality and to reduce the accumulated error in traditional inertial navigation systems, this paper proposes RUPT: a millimeter-wave radar aided pedestrian dead reckoning system with dual foot-mounted inertial measurement units (IMU). RUPT in this paper is a comprehensive data processing procedure which pre-processes both inertial data and millimeter-wave data and fuses them in a complementary way. Extensive experiments have demonstrated that the accuracy of RUPT has been improved by up to 65% over the conventional dual-foot mounted pedestrian tracking system.