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A partially decentralized system architecture based on step-wise inertial navigation and step-wise dead reckoning is presented.
In the following subsections, it is shown how this can be achieved by dividing the filtering associated with foot-mounted inertial sensors into a step-wise inertial navigation and step-wise dead reckoning.
A solution to the former problem has been presented in the partially decentralized system architecture based on the division and physical separation of the step-wise inertial navigation and the step-wise dead reckoning.
Not to lose performance in comparison with a sensor fusion approach based on centralized estimation, the step-wise inertial navigation combined with the step-wise dead reckoning needs to reproduce the same state statistics (mean and covariance) as those of the indefinite (no resets) ZUPT-aided inertial navigation.
The relation between the step-wise inertial navigation and dead reckoning is illustrated in Figure3. Figure 3 Illustration of the step-wise inertial navigation and the step-wise dead reckoning.
Step-wise inertial navigation is done locally in the foot-mounted units.
The step-wise inertial navigation and the associated transfer of displacements and heading changes have been implemented in the OpenShoe units.
The step-wise inertial navigation and dead reckoning as described in Algorithm 1 can be used to implement a decentralized architecture and state estimation.
The step-wise inertial navigation, i.e., Algorithm 1 apart from line 19, can be implemented locally in the foot-mounted units, and thereby, only [d p ℓ, d ψ ℓ ] and related covariances need to be transmitted from the feet.
However, the division in step-wise inertial navigation and dead reckoning is independent of the structure with a fusion center, and some decentralized global state estimation could potentially be used.
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