Inertial navigation algorithm for trajectory of front-wheel walker estimation

In this paper, we propose a system for trajectory of walker estimation. The system consists of an inertial measurement unit (IMU) and two encoders attached to a front-wheel walker. The IMU is employed to estimate the trajectory of the walker while the encoders are used to update the trajectory of the walker during rolling on the floor. Three update equations are proposed: quaternion update using the vertical vector, quaternion update using the yaw angle of the walker and position update using encoders. We implemented an experiment which focused on four walking styles of: continuous rolling, step by step rolling, complete lifting and 2 back tips lifting. Results of the experiment show the appropriateness of proposed update equations in all cases in general and in continuous rolling in particular.