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Conference Paper
An Inertial Navigation Dataset Based on Batch Optimization
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- Authors
- Jaehyun Lim, Soyeon Lee, Sangjoon Park
- Issue Date
- 2015-10
- Citation
- International Conference on Indoor Positioning and Indoor Navigation (IPIN) 2015, pp.1-2
- Publisher
- IEEE
- Language
- English
- Type
- Conference Paper
- Abstract
- As a part of persuasion toward unbiased analysis of indoor inertial navigation algorithms in quantitative manners, this study suggests a reference dataset for indoor inertial navigation system, especially for PDR application. In order to get a high precision reference dataset, we adopt the continuous-time batch optimization method, suggested in the context of offline SLAM and camera-IMU calibration. IMU sensors are mounted at 7 different positions of the lower body part of a subject, and the signals are recorded simultaneously for each experiment. Subjects conducted 10 different experiment scenarios, each of which has a recording length of 5 minutes. In order to track the reference trajectories of IMU sensors during experiments, an optical reference system is used.
- KSP Keywords
- Batch optimization, Continuous-Time, Different positions, IMU sensor, Inertial navigation system(INS), Lower body, Optical reference, Optimization methods, Reference dataset, Reference system, high-precision