Abhayasinghe, N2022-03-032022-03-032016https://rda.sliit.lk/handle/123456789/1465This research is focused on human gait modelling for infrastructure free inertial navigation for vision impaired. A pedometer based on a single thigh mounted gyroscope, an efficient algorithm to estimate thigh flexion and extension, gait models for level walking, a model to estimate step length and a technique to detect gait phases based on a single thigh mounted Inertial Measurement Unit (IMU) were developed and confirmed higher accuracies.enHuman gait modellingstep estimationphase classificationutilisingsingle thighmounted IMUvision impairedindoor navigationThesis