A Novel Three-Dimensional Positioning Method for Foot-Mounted Pedestrian Navigation System Using Low-Cost Inertial Sensor

Author:

Xie Dongpeng1,Jiang Jinguang2ORCID,Yan Peihui2ORCID,Wu Jiaji2,Li Yuying2,Yu Ziyan3

Affiliation:

1. Electronic Information School, Wuhan University, No. 129 Luoyu Road, Wuhan 430079, China

2. GNSS Research Center, Wuhan University, No. 129 Luoyu Road, Wuhan 430079, China

3. School of Computer Science, Wuhan University, No. 129 Luoyu Road, Wuhan 430079, China

Abstract

Aiming at the problem that position errors accumulate rapidly in foot-mounted pedestrian navigation systems using a low-cost inertial sensor, a novel three-dimensional (3D) positioning method is proposed. First, when the foot is still, an improved zero velocity detection method that assigns different weights to each inertial measurement unit (IMU) data in a sliding window is designed to reduce positioning errors. When the foot is in swing, a lateral velocity restriction method is proposed by analyzing the gait characteristics of pedestrians. In addition, when pedestrians need altitude positioning in the building, the stair step height is also applied to the zero-velocity update (ZUPT)-aided inertial navigation system, which can effectively improve altitude positioning accuracy. Experiments under multi-gait modes show that the proposed zero velocity detection method can achieve smaller positioning errors compared with other traditional zero velocity detection methods. Moreover, the trajectory estimated by the proposed method has a higher coincidence with the real trajectories, the two-dimensional (2D) plane positioning error is less than 0.9% and the average altitude positioning error is only 0.12 m.

Funder

National Key Research and Development Program of China

Fundamental Research Funds for the Central Universities

Publisher

MDPI AG

Subject

Electrical and Electronic Engineering,Computer Networks and Communications,Hardware and Architecture,Signal Processing,Control and Systems Engineering

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