Abstract: Systems and methods are provided for tracking a moving person. The system comprises a controller configured to receive acceleration data that characterizes an acceleration of the moving person in three dimensions. The controller comprises a step rate component that determines a step rate for the person based on a vertical component of the acceleration data. The controller also comprises a body offset component that determines a body offset angle based on a spectral analysis of the acceleration data and the step rate. The controller further comprises a velocity component that determines a reference velocity vector based on the body offset angle and the step rate.

Abstract: A navigation device is provided herein comprising an inertial measurement unit (IMU), a camera, and a processor. The IMU provides an inertial measurement to the processor and the camera provides at least one image frame to the processor. The processor is configured to determine navigation data based on the inertial measurement and the at least one image frame, wherein at least one feature is extracted from the at least one image frame based on the navigation data.