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Figure 1 | EURASIP Journal on Wireless Communications and Networking

Figure 1

From: A human motion model based on maps for navigation systems

Figure 1

Cascaded Bayesian location estimation architecture [9] with upper PF (dark gray) and lower Kalman filter for stride estimation (light gray). The focus of this study is the transition model based on the 3D map database that is used within the PF. Step displacement refers to calculation of one human step based on the inertial measurements and is effectively a down-sampling from the IMU data rate to the rate of the upper filter. Its output is a Gaussian distribution representing our PDR estimate of the latest (human) step.

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