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http://dx.doi.org/10.11003/JPNT.2022.11.1.35

Dual Foot-PDR System Considering Lateral Position Error Characteristics  

Lee, Jae Hong (Department of Aerospace Engineering/ASRI, Seoul National University)
Cho, Seong Yun (Department of Robotics and Mobility, Kyungil University)
Park, Chan Gook (Department of Aerospace Engineering/ASRI, Seoul National University)
Publication Information
Journal of Positioning, Navigation, and Timing / v.11, no.1, 2022 , pp. 35-44 More about this Journal
Abstract
In this paper, a dual foot (DF)-PDR system is proposed for the fusion of integration (IA)-based PDR systems independently applied on both shoes. The horizontal positions of the two shoes estimated from each PDR system are fused based on a particle filter. The proposed method bounds the position error even if the walking time increases without an additional sensor. The distribution of particles is a non-Gaussian distribution to express the lateral error due to systematic drift. Assuming that the shoe position is the pedestrian position, the multi-modal position distribution can be fused into one using the Gaussian sum. The fused pedestrian position is used as a measurement of each particle filter so that the position error is corrected. As a result, experimental results show that position of pedestrians can be effectively estimated by using only the inertial sensors attached to both shoes.
Keywords
pedestrian dead reckoning; integration approach; dual foot-mounted inertial sensors; indoor pedestrian navigation;
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Times Cited By KSCI : 1  (Citation Analysis)
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