Magnetic Field Gradient-Based EKF for Velocity Estimation in Indoor Navigation.

This paper proposes an advanced solution to improve the inertial velocity estimation of a rigid body, for indoor navigation, through implementing a magnetic field gradient-based Extended Kalman Filter (EKF). The proposed estimation scheme considers a set of data from a triad of inertial sensors (accelerometer and gyroscope), as well as a determined arrangement of magnetometers array. The inputs for the estimation scheme are the spatial derivatives of the magnetic field, from the magnetometers array, and the attitude, from the inertial sensors.

Human Activities and Postures Recognition: From Inertial Measurements to Quaternion-Based Approaches.

This paper presents two approaches to assess the effect of the number of inertial sensors and their location placements on recognition of human postures and activities. Inertial and Magnetic Measurement Units (IMMUs)-which consist of a triad of three-axis accelerometer, three-axis gyroscope, and three-axis magnetometer sensors-are used in this work. Five IMMUs are initially used and attached to different body segments.