A Double-Step Unscented Kalman Filter and HMM-Based Zero-Velocity Update for Pedestrian Dead Reckoning Using MEMS Sensors.
Xin TongYan SuZhaofeng LiChaowei SiGuowei HanJin NingFuhua YangPublished in: IEEE Trans. Ind. Electron. (2020)
Keyphrases
- dead reckoning
- extended kalman filter
- unscented kalman filter
- estimation process
- kalman filter
- kalman filtering
- state estimation
- computer simulation
- estimation accuracy
- mobile robot
- particle filter
- hidden markov models
- optical flow
- constant velocity
- inertial sensors
- simultaneous localization and mapping
- target tracking
- training algorithm
- multilayer perceptron
- motion field
- global positioning system
- neural network
- sensor data
- back propagation
- motion model