Indoor positioning based on foot-mounted IMU

• Autorzy: Guo H. , Uradziński M. , Yin H. , Yu M.

Identyfikatory

DOI

10.1515/bpasts-2015-0074

• Języki publikacji: EN

Abstrakty

EN

The paper presents the results of the project which examines the level of accuracy that can be achieved in precision indoor positioning by using a pedestrian dead reckoning (PDR) method. This project is focused on estimating the position using step detection technique based on foot-mounted IMU. The approach is sensor-fusion by using accelerometers, gyroscopes and magnetometers after initial alignment is completed. By estimating and compensating the drift errors in each step, the proposed method can reduce errors during the footsteps. There is an advantage of the step detection combined with ZUPT and ZARU for calculating the actual position, distance travelled and estimating the IMU sensors’ inherent accumulated error by EKF. Based on the above discussion, all algorithms are derived in detail in the paper. Several tests with an Xsens IMU device have been performed in order to evaluate the performance of the proposed method. The final results show that the dead reckoning positioning average position error did not exceed 0.88 m (0.2% to 1.73% of the total traveled distance – normally ranges from 0.3% to 10%), what is very promising for future handheld indoor navigation systems that can be used in large office buildings, malls, museums, hospitals, etc.

Słowa kluczowe

EN

indoor positioning; foot-mounted; pedestrian dead reckoning; IMU; ZARU; ZUPT

PL

IMU; ZARU; ZUPT

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2015
• Tom: Vol. 63, nr 3
• Strony: 629--634
• Opis fizyczny: Bibliogr. 10 poz., rys., wykr., tab., fot.

Twórcy

autor

Guo H.

• Nanchang University, Academy of Science and Technology, Nanchang, China

autor

Uradziński M.

• Department of Astronomy and Geodynamics, University of Warmia and Mazury, 2 Oczapowskiego St. 10-719 Olsztyn, Poland

autor

Yin H.

• Nanchang University, Academy of Science and Technology, Nanchang, China

autor

Yu M.

• Jiangxi Normal University, Department of Computer Information and Engineering, Nanchang, China

Bibliografia

• [1] A.R. Jimeěnez, F. Seco, J.C. Prieto, and J. Guevara, “Indoor pedestrian navigation using an INS/EKF framework for yaw drift reduction and a foot-mounted IMU”, Proc.7th Workshop on Positioning, Navigation and Communication (WPNC’10) 1, CD-ROM (2010).
• [2] A. Wojciechowski, “Camera navigation support in a virtual environment”, Bull. Pol. Ac.: Tech. 61 (4) 871–884 (2013).
• [3] E. Foxlin, “Pedestrian tracking with shoe-mounted inertial sensors”, IEEE Computer Graphics and Applications 25, 38–46 (2005).
• [4] F. Evennou and F. Marx, “Advanced integration of WIFI and inertial navigation systems for indoor mobile positioning”, EURASIP J. Applied Signal Processing 52, 164–174 (2006).
• [5] G. Retscher and Q. Fu, “Continuous indoor navigation with RFID and INS”, Position Location and Navigation Symp. 1, 102–112 (2010).
• [6] J. Won Kim, H.J. Jang, D. Hwang, and C. Park, “A step, stride and heading determination for the pedestrian navigation system”, J. Global Positioning Systems 3 (1–2), 273–279 (2004).
• [7] R. Feliz, E. Zalama, and J.G. Garcia-Bermejo, “Pedestrian tracking using inertial sensors”, J. Physical Agents 3, 35–43 (2009).
• [8] S.L. Wang, “RSS and IMU indoor navigation information fusion system in zigbee wireless sensor networks”, Nat. Chen Kung University Graduated Thesis, Chen Kung University, Taiwan, 2005.
• [9] W. Gelmuda and A. Kos, “Multichannel ultrasonic range finder for blind people navigation”, Bull. Pol. Ac.: Tech. 61 (3), 633–638 (2013).
• [10] Xsens Technologies B.V., MTi and MTx User Manual and Technical Documentation, www.xsens.com (2010).