Pedestrian navigation system based on the inertial measurement unit sensor for outdoor and indoor environments
<p>With the continuous improvement of the hardware level of the inertial measurement unit (IMU), indoor pedestrian dead reckoning (PDR) using an inertial device has been paid more and more attention. Typical PDR system position estimation is based on acceleration obtained from accelerometers t...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2020-01-01
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| Series: | Journal of Sensors and Sensor Systems |
| Online Access: | https://www.j-sens-sens-syst.net/9/7/2020/jsss-9-7-2020.pdf |
| Summary: | <p>With the continuous improvement of the hardware level of
the inertial measurement unit (IMU), indoor pedestrian dead reckoning (PDR)
using an inertial device has been paid more and more attention. Typical PDR
system position estimation is based on acceleration obtained from
accelerometers to measure the step count, estimate step length and
generate the position with the heading received from angular sensors
(magnetometers and gyroscopes). Unfortunately, collected signals are very
responsive to the alignment of sensor devices, built-in instrumental
errors and distortions from the surrounding environment.</p>
<p>In our work, a pedestrian positioning method using step detection based on a shoe-mounted inertial unit is arranged and put to the test, and the final results
are analyzed. The extended Kalman filter (EKF) provides
estimation of the errors which are acquired by the XSENS IMU sensor biases.
The EKF is revised with acceleration and angular rate
computations by the ZUPT (zero velocity update) and ZARU (zero angular rate
update) algorithms. The step detection associated with these two solutions
is the perfect choice to calculate the current position and distance walked and to
estimate the IMU sensors' collected errors by
using EKF.</p>
<p>The test with a shoe-mounted IMU device was performed and analyzed in
order to check the performance of the recommended method. The combined PDR
final results were compared to GPS/Beidou postprocessing kinematic results
(outdoor environment) and to a real route which was prepared and calculated
for an indoor environment. After the comparison, the results show that the
accuracy of the regular-speed walking under ZUPT and ZARU combination in the
case of outdoor positioning did not go beyond 0.19 m (SD) and for indoor
positioning accuracy did not exceed 0.22 m (SD). The authors are
conscious that built-in drift errors coming from accelerometers and
gyroscopes, as well as the final position obtained by XSENS IMU, are only stable for a short time period. Based on this consideration, our future work will be
focused on supporting the methods presented with radio technologies (WiFi) or
image-based solutions to correct all IMU imperfections.</p> |
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| ISSN: | 2194-8771 2194-878X |