arXiv subjects

Shunsei Yamagishi

Publications and source records attributed to Shunsei Yamagishi.

3 recordsLinked to original sources

arXiv2026

Quaternion-Averaging-Based Adaptive Complementary Filter for Pedestrian Dead Reckoning With a Foot-Mounted AHRS

Pedestrian Dead Reckoning (PDR) can be applied to indoor navigation systems. GPS suffers from signal degradation due to roofs and high-rise buildings, whereas PDR can estimate positions without being affected by such signal degradation. The accuracy of a foot-mounted AHRS(Attitude and Heading Reference System)-based PDR depends on the accuracy of the attitude estimation algorithm used in the AHRS. In this article, a Quaternion-Averaging-Based Adaptive Complementary Filter (QAACF) for PDR with a foot-mounted AHRS is proposed to improve estimation accuracy while reducing computational cost. QAACF fuses a quaternion derived from angular velocity with quaternions derived from acceleration and magnetic field measurements using Markley's quaternion averaging, which combines two quaternions more rigorously than linear interpolation. In addition, QAACF adaptively adjusts the weights of angular velocity, acceleration, and magnetic field measurements according to gait phases and the level of magnetic disturbances. Experimental results showed that the proposed QAACF achieves low Root Mean Square Errors (RMSEs) compared to existing attitude estimation filters while requiring lower computational cost than Kalman filters.

cs.RO↗

arXiv2026

A Lightweight Cubature Kalman Filter for Attitude and Heading Reference Systems Using Simplified Prediction Equations

Attitude and Heading Reference Systems (AHRSs) are broadly applied wherever reliable orientation and motion sensing is required. In this paper, we present an improved Cubature Kalman Filter (CKF) with lower computational cost while maintaining estimation accuracy, which is named "Kaisoku Cubature Kalman Filter (KCKF)". The computationally efficient equations of the KCKF are derived by simplifying those of the CKF, while preserving equivalent mathematical relations. The lightweight prediction equations in the KCKF are derived by expanding the summation terms in the CKF and simplifying the result. This paper shows that the KCKF requires fewer floating-point operations (FLOPs) than the CKF. The controlled experimental results show that the KCKF reduces the computation time by approximately 19% compared to the CKF on a high-performance computer, whereas the KCKF reduces the computation time by approximately 15% compared to the CKF on a low-cost single-board computer. In addition, the KCKF maintains the attitude estimation accuracy of the CKF.

eess.SY↗

arXiv2025

WPTrack: A Wi-Fi and Pressure Insole Fusion System for Single Target Tracking

As the Internet of Things (IoT) continues to evolve, indoor location has become a critical element for enabling smart homes, behavioral monitoring, and elderly care. Existing WiFi-based human tracking solutions typically require specialized equipment or multiple Wi-Fi links, a limitation in most indoor settings where only a single pair of Wi-Fi devices is usually available. However, despite efforts to implement human tracking using one Wi-Fi link, significant challenges remain, such as difficulties in acquiring initial positions and blind spots in DFS estimation of tangent direction. To address these challenges, this paper proposes WPTrack, the first Wi-Fi and Pressure Insoles Fusion System for Single Target Tracking. WPTrack collects Channel State Information (CSI) from a single Wi-Fi link and pressure data from 90 insole sensors. The phase difference and Doppler velocity are computed from the CSI, while the pressure sensor data is used to calculate walking velocity. Then, we propose the CSI-pressure fusion model, integrating CSI and pressure data to accurately determine initial positions and facilitate precise human tracking. The simulation results show that the initial position localization accuracy ranges from 0.02 cm to 42.55 cm. The trajectory tracking results obtained from experimental data collected in a real-world environment closely align with the actual trajectory.

cs.NI↗