Thesis Abstract


It’s about time I put up the abstract of my thesis. This blog will focus more on the things I learn or develop during my thesis. I guess it will be a good exercise for me and a ready reference.


A reliable and infrastructure independent positioning system is a necessary tool to increase the safety of first responder units. Global Positioning System (GPS) is a standard technique for outdoor positioning. OpenShoe system is useful in tracking the position of first responders inside buildings and closed environments where GPS is unavailable. The current OpenShoe system is capable to plot trajectories of a team of 4 first responders. It executes positioning algorithms in real-time on BeagleBoard and streams live video from the camera attached on the first responder’s helmet to a central base station.

Multiple low-cost Inertial Measurement Units (IMUs) are used to design a hardware prototype which can be later integrated with the existing OpenShoe system. The aim of using Multiple Inertial Measurement Units (MIMU) is to test whether they can provide a better estimate of position than the existing single IMU based OpenShoe system. The theoretical analysis of MIMU systems can be verified by corroborating with experimental data.

The MIMU system takes into account the Zero Velocity uPdaTes (ZuPT) of multiple IMUs to estimate the position of the person. The data collected from the multiple IMUs is fused using Kalman filter. This work also takes into account the different possible locations and the number of IMUs that can be placed on the shoe.

OpenShoe is a part of a joint Indo-Swedish project between Signal Processing (SP) Lab KTH (KTH Royal Institute of Technology, Sweden), Statistical Signal Processing (SSP) Lab Indian Institute of Science (IISc) Bangalore, India and VLSI Circuits and Systems Lab, IISc Bangalore.


P.S. : More information on the same can be obtained here.


One comment

  1. […] time for me to post about my work. So as I mentioned in my abstract, I will be working with low-cost IMUs. Last week, we procured Sparkfun’s MPU6050 IMU. It […]

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