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.