System description

 

 

The Open­Shoe sys­tem is an embed­ded zero-velocity update (ZUPT) aided iner­tial nav­i­ga­tion sys­tem (INS). The fil­ter­ing run on an Atmel AVR32UC3C micro­con­troller. The IMU is an Ana­log Devices ADIS16367. The micro­con­troller and the IMU is enclosed in a plas­tic cas­ing. The cas­ing is in turn inte­grated into the sole of a shoe. The sys­tem has an exter­nal USB inte­face for receiv­ing com­mands and out­putting data. The USB inter­face can also be used to update and repro­gram the system.

Detailed doc­u­men­ta­tion of the dif­fer­ent part of the sys­tem is found under:

  • For an overview of the Open­Shoe sys­tem see Overview.
  • For detailed descrip­tion of the Open­Shoe hard­ware see Hard­ware.
  • For expla­na­tion and descrip­tion of the fil­ter­ing run on the Open­Shoe sys­tem see Fil­ter­ing.
  • For detailed descrip­tion of the Open­Shoe soft­ware see Soft­ware.
  • For doc­u­men­ta­tion of per­for­mance eval­u­a­tions of the Open­Shoe sys­tem see Per­for­mance.

Note that since the iSen­sor IMUs share a com­mon mechan­i­cal and elec­tri­cal inter­face, a side prod­uct of the Open­Shoe project is that it is also an open source USB inter­face to the Ana­log Devices iSen­sor IMUs.

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