Browse > Article
http://dx.doi.org/10.11003/JPNT.2021.10.3.189

Altitude and Heading Correction of 3D Pedestrian Inertial Navigation  

Cho, Seong Yun (Division of Robotics and Mobility, Kyungil University)
Lee, Jae Hong (Department of Mechanical and Aerospace Engineering, Seoul National University)
Park, Chan Gook (Department of Mechanical and Aerospace Engineering, Seoul National University)
Publication Information
Journal of Positioning, Navigation, and Timing / v.10, no.3, 2021 , pp. 189-196 More about this Journal
Abstract
In this paper, we propose techniques to correct the altitude error and heading error of 3D Pedestrian Inertial Navigation (PIN). When a PIN is used to estimate the location of a pedestrian only with an Inetrial Measurement Unit (IMU) without infrastructure, there is a problem in that the location error gradually increases due to the limitation of the observability of the filter. To solve this problem without additional sensors, we propose two techniques in this paper. First, stair walking is recognized in consideration of the altitude difference that may occur during one step. If it is recognized as stair walking, only Zero-velocity UPdaTe (ZUPT) is performed, and if it is recognized as level walking, ZUPT + Altitude Damping (AD) is performed together to correct the altitude error. Second, the straight-line movement direction is calculated through the difference of the estimated position, and the heading error is corrected by matching this information with the link information of the digital map. By applying these techniques, it is verified through real tests that accurate three-dimensional location information of pedestrians can be estimated without infrastructure.
Keywords
pedestrian inertial navigation; altitude damping; map link information; heading correction;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Qi, H., Wang, Y., Bi, J., Cao, H., & Xu, S. 2021, Research on HAR-based floor positioning, International Journal of Geo-Information, 10, 437. https://doi.org/10.3390/ijgi10070437   DOI
2 Ju, H. & Park, C. G. 2018, A pedestrian dead reckoning system using a foot kinematic constraint and shoe modeling for various motions, Sensors and Actuators A: Physical, 284, 135-144. https://doi.org/10.1016/j.sna.2018.09.043   DOI
3 Cho, S. Y. 2005, Enhanced tilt compensation method for biaxial magnetic compass, IEE Electronics Letters, 41, 1323-1325. https://doi.org/10.1049/el:20053464   DOI
4 Cho, S. Y., Lee, J. H., & Park, C. G. 2020, Cubature point-based location domain fusion of PDRs mounted on both feet for indoor positioning of a firefighter, Journal of Institute of Control, Robotics and Systems, 26, 630-636. https://doi.org/10.5302/J.ICROS.2020.20.0057   DOI
5 Cho, S. Y. & Park, C. G. 2006, MEMS based pedestrian navigation system, Journal of Navigation, 59, 135-153. https://doi.org/10.1017/S0373463305003486   DOI
6 Cho, S. Y. & Park, C. G. 2019, Threshold-less zero-velocity detection algorithm for pedestrian dead reckoning, ENC2019, 9-12 Apr 2019, Warsaw, Poland. https://doi.org/10.1109/EURONAV.2019.8714170   DOI
7 Ju, H., Park, S. Y., & Park, C. G. 2018, A smartphone-based pedestrian dead reckoning system with multiple virtual tracking for indoor navigation, IEEE Sensors Journal, 18, 6756-6764. https://doi.org/10.1109/JSEN.2018.2847356   DOI
8 Luo, J., Zhang, C., & Wang, C. 2020, Indoor multi-floor 3D target tracking based on the multi-sensor fusion, IEEE Access, 8, 36836-36846. https://doi.org/10.1109/ACCESS.2020.2972962   DOI
9 Park, S., Lee, J. H., & Park, C. G. 2021, Robust pedestrian dead reckoning for multiple poses in smartphones, IEEE Access, 9, 54498-54508. https://doi.org/10.1109/ACCESS.2021.3070647   DOI
10 Skog, I., Handel, P., Nilsson, J. O., & Rantakokko, J. 2010, Zero-velocity detection - an algorithm evaluation, IEEE Transactions on Biomedical Engineering, 57, 2657-2666. https://doi.org/10.1109/TBME.2010.2060723   DOI
11 Titterton, D. H. & Weston, J. L. 1997, Strapdown Inertial Navigation Technology (London: Peregrinus)