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OpenShoe

"Foot-mounted INS for Everybody -- An Embedded Open Source Implementation"

The project aim at developing open source software components for an embedded zero-velocity update (ZUPT) aided inertial navigation system (INS). The platform is an Atmel AVR32UC3C2512c microcontroller with an Analog Devices iSensor 16367 IMU. However, the mechanization equations and filtering implementation should be independent of the hardware and easily compiled for other platforms.
The project is a part of the larger OpenShoe project aimed at developing a full open source hardware and software embedded ZUPT aided INS implementation. Hardware and software documentation is found at the OpenShoe homepage.
The work is a part of the research work carried out at the Signal Processing Lab, KTH Royal Institute of Technology, Stockholm, Sweden and the Statistical Signal Processing Lab, IISc, Bangalore, India. The initial work will primarily be carried out during the fall and winter of 2011-2012.

We are currently on alpha-level but all code has not been uploaded yet. Documentation is also still lacking. By mid december 2011 we expect to reach beta-level and to have initial documentation ready. If you have urgent interest in this project please contact project admin at jnil02@kth.se.

The Git repositories contain full AVR Studio projects including compile and linking settings. The Navigation algorithm project is compiles as a static library and linked to the other projects which are compiled as hex-files for programming the microcontroller. Directories for linking with the Navigation algorithm project might have to be adjusted depending on where the projects are placed.

Project Admins:

• JohnOlof