A Novel Three-Dimensional Positioning Method for Foot-Mounted Pedestrian Navigation System Using Low-Cost Inertial Sensor
نویسندگان
چکیده
Aiming at the problem that position errors accumulate rapidly in foot-mounted pedestrian navigation systems using a low-cost inertial sensor, novel three-dimensional (3D) positioning method is proposed. First, when foot still, an improved zero velocity detection assigns different weights to each measurement unit (IMU) data sliding window designed reduce errors. When swing, lateral restriction proposed by analyzing gait characteristics of pedestrians. In addition, pedestrians need altitude building, stair step height also applied zero-velocity update (ZUPT)-aided system, which can effectively improve accuracy. Experiments under multi-gait modes show achieve smaller compared with other traditional methods. Moreover, trajectory estimated has higher coincidence real trajectories, two-dimensional (2D) plane error less than 0.9% and average only 0.12 m.
منابع مشابه
Pedestrian Navigation Using Foot-Mounted Inertial Sensor and LIDAR
Foot-mounted inertial sensors can be used for indoor pedestrian navigation. In this paper, to improve the accuracy of pedestrian location, we propose a method using a distance sensor (LIDAR) in addition to an inertial measurement unit (IMU). The distance sensor is a time of flight range finder with 30 m measurement range (at 33.33 Hz). Using a distance sensor, walls on corridors are automatical...
متن کاملA Novel Pedestrian Navigation Algorithm for a Foot-Mounted Inertial-Sensor-Based System
This paper proposes a novel zero velocity update (ZUPT) method for a foot-mounted pedestrian navigation system (PNS). First, the error model of the PNS is developed and a Kalman filter is built based on the error model. Second, a novel zero velocity detection algorithm based on the variations in speed over a gait cycle is proposed. A finite state machine including three states is employed to mo...
متن کاملA Novel 3D Pedestrian Navigation Method for a Multiple Sensors-Based Foot-Mounted Inertial System
In this paper, we present a novel method for 3D pedestrian navigation of foot-mounted inertial systems by integrating a MEMS-IMU, barometer, and permanent magnet. Zero-velocity update (ZUPT) is a well-known algorithm to eliminate the accumulated error of foot-mounted inertial systems. However, the ZUPT stance phase detector using acceleration and angular rate is threshold-based, which may cause...
متن کاملFoot-mounted Indoor Pedestrian Positioning System Based on Low-Cost Inertial Senors
In this paper, we present an indoor positioning system using foot-mounted low cost Micro-Electro-Mechanical System (MEMS) sensors to derive the position and attitude of the wearer and plot the trajectory on the smartphone in realtime. The pedestrian’s motion information is collected by accelerometers and gyroscopes to achieve Pedestrian DeadReckoning (PDR) which is used to estimate the pedestri...
متن کاملRotating a MEMS inertial Measurement Unit for a foot-mounted Pedestrian Navigation
Pedestrian navigation especially indoors suffers from the unavailability of useful GNSS signals for positioning. Alternatively, a low-cost Inertial Measurement Unit (IMU) positioning system that does not depend on the GNSS signal can be used for indoor navigation. However its performance is still compromised because of the fastaccumulating heading drift error affecting such a low-cost IMU senso...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Electronics
سال: 2023
ISSN: ['2079-9292']
DOI: https://doi.org/10.3390/electronics12040845