Open source embedded foot-mounted INS
OpenShoe is an open source embedded foot-mounted INS implementation including both hardware and software design. A cross section of a shoe with a unit of the implementation integrated into the sole can be seen above. To our knowledge, this is the only implementation of its kind.
The implementation has been done with the hope that it will save time, sweat, and tears for navigation researchers as well as facilitate the use of the technology by researchers not specialized in aided INS, e.g. in fields such as biomedical engineering, behavioral science, and ubiquitous computing. The value of the embedded implementation also lies in its modularity and in its small weight, bulk, and price in comparison with the typical sensor-plus-laptop research systems. These properties alleviate the work of integrating the foot-mounted INS in larger realtime pedestrian navigation systems, and make it feasible to equip a larger number of users with footmounted INS units for field performance tests and cooperative navigation studies.
General features of the implementation:
- Embedded ZUPT aided INS
- Open source and fully documented
- Reproduction cost below $800
- Designed for an Analog Devices ADIS16367 IMU but with interface compitability with all IMUs in the iSensor serie
- 820[Hz] sampling rate, 18[g] and 1200°/s dynamic range, 330[Hz] sensor bandwidth using the ADIS16367 IMU
- Atmel AVR32UC3C microcontroller with hardware floating point
- Footprint 28.5x32x40.5[mm]
- USB interface
- Source code written in C
- Easily configured to run any user implemented algorithms
- Matlab code available for communication
- Reprogrammable through the USB interface.
- Appear as a virtual com-port
- Configurable to work as an IMU, as a stand-alone ZUPT-aided INS, and as a displacement and heading change sensor.
The system is easily reproducible. On this site you can find:
- Precompiled code
- Fully documented C source code
- Production files for PCB/PCA and casing
For a more detailed presentation of the implementation, see the article Foot-mounted INS for Everybody — An Open-Source Embedded Implementation (opens in a new tab).
We hope that you find the implementation interesting and usefull. If you have any questions, comments, suggestions, or enquiries, please contact us at firstname.lastname@example.org.
/The OpenShoe team
October 24, 2013, Posted by: John-Olof
I thought I would post a snap-shot of some current work we are doing. Slowly but surely we have started developing a new version of the OpenShoe units. This time we have wanted to use small inexpensive single-chip IMUs and to add magnetometers to the system. This is how it looks like currently:
Hopefully we can find time to post more stuff soon.
Initialization of pedestrian dead reckoning
July 3, 2013, Posted by: John-Olof
Working with building the larger infrastructure free localization system based on the OpenShoe units, we have been forced to study the issue of system integration of foot-mounted inertial navigation. Recently, some results from that was accepted for presentation at the next IROS conference, Nov. 3–7 in Tokyo. It concerns the initialization of the foot-mounted inertial navigation system of different agents relative each other by means of inter-agent ranging. Just like the work dealt with in the last post, this is not really a part of the OpenShoe project but it is still relevant since if you are to use the OpenShoe units in a larger system, you will most likely encounter the problem.
Anyway, the article is available under the publication section and here:
Recursive Bayesian Initialization of Localization Based on Ranging and Dead Reckoning
Infrastructure free cooperative localization
April 15, 2013, Posted by: John-Olof
Roughly a year after the OpenShoe implementation was published and after a hectic year of further development, we have now developed a complete real-time multi-agent cooperative localization system based on the setup illustrated in the image above. An article describing the main parts of this system is available at arXiv (Cooperative localization by dual foot-mounted inertial sensors and inter-agent ranging)
This work on cooperative localization is not really a part of the OpenShoe project but it naturally have many connections since the OpenShoe units are an crucial component in it. From the OpenShoe perspective, the main result of the article is that it describes how the OpenShoe units should be integrated/viewed from a system perspective. Also, building the system has forced us update the software of the system and to implement many new features. I hope that I will soon find find the time to clean up these features and merge the banches with the trunk on SourceForge.
Publications from last IPIN conference added
April 15, 2013, Posted by: John-Olof
The last publications from IPIN last November (2012 International Conference on Indoor Positioning and Indoor Navigation)
have now been added under the publication section.
Tutorial at the IEEE CONECCT conference
February 28, 2013, Posted by: John-Olof
During the third week of January some of us attended the IEEE CONECCT conference. Thereat Isaac Skog and John-Olof Nilsson gave a tutorial on pedestrian tracking by means of foot-mounted inertial sensors and on cooperative localization. Too late to attend but once we have hade time to clean out excessively large video-clips from the presentations we will try to upload them here.