A two-stage classification method for improved positioning using low-cost inertial sensors

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dc.contributor.authorMaton, Dariusz
dc.contributor.authorEconomou, John
dc.contributor.authorGalvao Wall, David
dc.contributor.authorKhan, Irfan
dc.contributor.authorCooper, Robert
dc.contributor.authorWard, David
dc.contributor.authorTrythall, Simon
dc.date.accessioned2024-09-03T13:04:22Z
dc.date.available2024-09-03T13:04:22Z
dc.date.freetoread2024-09-03
dc.date.issued2024-08-08
dc.description.abstractThe two-stage subtractive clustering Takagi-Sugeno (2SC-TS) method is proposed which completely replaces the established method of inertial navigation with classification models. The classifiers are designed by the subtractive clustering algorithm, an unsupervised learning method. The accuracy of the trajectories is compared against three competitive data-driven methods on three independent experimental datasets. The results show how 2SC-TS generates trajectories with approximately 20% lower positional error compared with the single-stage version (SC-TS), and halves the error produced by competitive deep learning methods. The proposed method may help improve the positioning of people and robots carrying low-cost inertial sensors.
dc.description.conferencename19th IEEE Conference on Industrial Electronics and Applications (ICIEA 2024)
dc.description.sponsorshipEngineering and Physical Sciences Research Council (EPSRC)
dc.description.sponsorshipThis work was supported by the EPSRC iCASE grant reference EP/S513623/1 and BAE Systems
dc.identifier.citationMaton D, Economou J, Galvao Wall D, et al., (2024) A two-stage classification method for improved positioning using low-cost inertial sensors. In: 19th IEEE Conference on Industrial Electronics and Applications (ICIEA 2024), 5-8 August 2024, Kristiansand, Norway
dc.identifier.elementsID552074
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/22853
dc.language.isoen
dc.publisherIEEE
dc.publisher.urihttps://www.ieeeiciea.org/2024/
dc.rightsAttribution 4.0 Internationalen
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/
dc.subjectIMU
dc.subjectTakagi-Sugeno model
dc.subjectinertial navigation
dc.titleA two-stage classification method for improved positioning using low-cost inertial sensors
dc.typeConference paper
dcterms.coverageKristiansand, Norway
dcterms.temporal.endDate08-Aug-2024
dcterms.temporal.startDate05-Aug-2024

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