Open source embedded foot-mounted INS
DURING THE YEAR, WE HAVE MADE SIGNIFICANT UPGRADES TO THE TRACKING MODULES. UNFORTUNATELY, WE HAVE NOT YET UPDATED THE INFORMATION ABOUT THE MODULES UNDER THE LINKS TO THE RIGHT. CONSEQUENTLY, MOST OF THE INFORMATION THERE REFERS TO THE OLD GENERATION OF TRACKING MODULES. THE INFORMATION SHOULD BE UPDATED DURING THE FALL. FOR MORE INFORMATION, SEE RECENT POSTS.
OpenShoe is an open source embedded foot-mounted inertial navigation system (INS) implementation, including both hardware and software designs. The module tracks the motion of the foot over the step by means of inertial navigation. The steps can then be summed up to get a relative position of a pedestrian, as illustrated above.
The embedded implementation and the step-wise inertial navigation modularizes the foot-mounted INS technology which facilitates the integration in realtime pedestrian positioning systems, and make it feasible to equip a larger number of users with foot-mounted INS modules for field performance tests and cooperative localization studies. The modules are wireless and can provide the tracking information to, for example, a smart-phone. Modules can be used on both feet for improved performance.
General features of the implementation:
- Embedded ZUPT-aided INS
- Open source
- Dead reckoning updates*
- Four Invensense MPU9150 IMUs
- Atmel AVR32UC3C microcontroller
- Bluetooth and USB interfaces
- Approx. 1.5[h] battery time
- Size 23.2x31x13.5[mm]
- Embedded software written in C
- General processing and communication framework
- Algorithm implementations
- Reprogrammable via USB
- Appears as a virtual com-port
For a more detailed presentation of the implementation, see the paper Foot-mounted inertial navigation made easy (opens in a new tab). The current module is the second generation of modules. Description of the previous generation can be found in the paper Foot-mounted INS for Everybody — An Open-Source Embedded Implementation.
We hope that you find the implementation interesting and useful. If you have any questions, comments, suggestions, or inquiries, please contact us at firstname.lastname@example.org.
/The OpenShoe team
* For system integration, the statistics of the position and heading is necessary. This is achieved by providing dead reckoning updates (displacement and heading changes over individual steps) which can be used to reproduce the statistics. This way, most of the processing can be hidden from the user while still providing sufficient information for fusion with other information sources.
** Additional hardware features such as a FLASH memory and a pressure sensor are available. However, no software support for these components is yet available.