Dual Foot-Mounted Localisation Scheme Employing a Minimum-Distance-Constraint Kalman Filter Under Coloured Measurement Noise

This study proposes a dual foot-mounted localisation scheme with a minimum-distance-constraint (MDC) Kalman filter (KF) for human localisation under coloured measurement noise (CMN). The dual foot-mounted localisation employs inertial measurement unit (IMUs), one on each foot, and is intended for human navigation. The KF under CMN (cKF) is then derived from the data-fusion model of the proposed navigation scheme. Finally, the MDC condition is designed and an MDC-cKF model is proposed to reduce the error in the IMUs. Empirical results showed that the proposed method effectively improves the navigation accuracy from that of MDC-KF, which neglects the effect of CMN.