Machine Learning Aided Gait Recognition for Inertial Navigation and Orientation (MARIO)

Abstract

A system capable of determining a pedestrian's position and velocity with respect to a ground surface comprising: a torso IMU mounted to a torso of the pedestrian that is configured to output linear acceleration and angular velocity data (AAV data) associated with the torso; a first leg IMU configured to output linear AAV data associated with the pedestrian's first leg; a second leg IMU configured to output linear AAV data associated with the pedestrian's second leg; a processor mounted to the pedestrian and communicatively coupled to the IMUs, wherein the processor comprises a trained machine learning algorithm configured to estimate the pedestrian's velocity based solely on the linear AAV data from each of the IMUs, or any combination thereof. The processor is configured to use a navigation filter to estimate the pedestrian's position based on the pedestrian's velocity and the linear AAV data from the torso IMU.

CPC Classifications