UMD Theses and Dissertations

Permanent URI for this collectionhttp://hdl.handle.net/1903/3

New submissions to the thesis/dissertation collections are added automatically as they are received from the Graduate School. Currently, the Graduate School deposits all theses and dissertations from a given semester after the official graduation date. This means that there may be up to a 4 month delay in the appearance of a given thesis/dissertation in DRUM.

More information is available at Theses and Dissertations at University of Maryland Libraries.

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Author: search.filters.author.Spiridonov, Timofey N.Subject: search.filters.subject.Engineering

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    Human Gait Based Relative Foot Sensing for Personal Navigation
    (2010) Spiridonov, Timofey N.; Pines, Darryll J; Aerospace Engineering; Digital Repository at the University of Maryland; University of Maryland (College Park, Md.)
    Human gait dynamics were studied to aid the design of a robust personal navigation and tracking system for First Responders traversing a variety of GPS-denied environments. IMU packages comprised of accelerometers, gyroscopes, and magnetometer are positioned on each ankle. Difficulties in eliminating drift over time make inertial systems inaccurate. A novel concept for measuring relative foot distance via a network of RF Phase Modulation sensors is introduced to augment the accuracy of inertial systems. The relative foot sensor should be capable of accurately measuring distances between each node, allowing for the geometric derivation of a drift-free heading and distance. A simulation to design and verify the algorithms was developed for five subjects in different gait modes using gait data from a VICON motion capture system as input. These algorithms were used to predict the distance traveled up to 75 feet, with resulting errors on the order of one percent.