Open source embedded foot-mounted INS
THE TRACKING MODULES HAVE RECENTLY UNDERGONE SIGNIFICANT UPDATES (NEW IMUS, WIRELESS INTERFACE, ETC). THE MODULE DESIGN AND THE UPDATED SOFTWARE ARE ALREADY RELEASED BUT THE INFORMATION BELOW AND SOME OTHER DOCUMENTATION ON THIS SITE HAVE NOT BEEN UPDATED. SEE RECENT POST FOR FURTHER INFORMATION ABOUT THE NEW MODULES.
A PAPER DESCRIBING THE NEW MIMU22BT PLATFORM IS CURRENTLY UNDER REVIEW. IF YOU WOULD LIKE TO TAKE PART OF THE PAPER, PLEASE CONTACT US AT firstname.lastname@example.org.
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 email@example.com.
/The OpenShoe team