Please use this identifier to cite or link to this item: http://hdl.handle.net/10261/32215
Share/Export:
logo share SHARE BASE
Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL | DATACITE
Title

Indoor Pedestrian Navigation using an INS/EKF framework for Yaw Drift Reduction and a Foot-mounted IMU

AuthorsJiménez Ruiz, Antonio R. CSIC ORCID; Seco Granja, Fernando CSIC ORCID; Prieto, José Carlos CSIC; Guevara, Jorge CSIC
Issue Date2010
PublisherInstitute of Electrical and Electronics Engineers
CitationWPNC 2010: 7th Workshop on Positioning, Navigation and Communication
AbstractThe estimation of the position of a person in a building is a must for creating Intelligent Spaces. State-of-theart Local Positioning Systems (LPS) require a complex sensornetwork infrastructure to locate with enough accuracy and coverage. Alternatively, Inertial Measuring Units (IMU) can be used to estimate the movement of a person; a methodology that is called Pedestrian Dead-Reckoning (PDR). In this paper, we describe and implement a Kalman-based framework, called INSEKF- ZUPT (IEZ), to estimate the position and attitude of a person while walking. IEZ makes use of an Extended Kalman filter (EKF), an INS mechanization algorithm, a Zero Velocity Update (ZUPT) methodology, as well as, a stance detection algorithm. As the IEZ methodology is not able to estimate the heading and its drift (non-observable variables), then several methods are used for heading drift reduction: ZARU, HDR and Compass. The main contribution of the paper is the integration of the heading drift reduction algorithms into a Kalman-based IEZ platform, which represents an extended PDR methodology (IEZ+) valid for operation in indoor spaces with local magnetic disturbances. The IEZ+ PDR methodology was tested in several simulated and real indoor scenarios with a low-performance IMU mounted on the foot. The positioning errors were about 1% of the total travelled distance, which are good figures if compared with other works using IMUs of higher performance.
Publisher version (URL)http://ieeexplore.ieee.org
http://10.1109/WPNC.2010.5649300
URI10261/32215
DOI10.1109/WPNC.2010.5649300
Appears in Collections:(CAR) Comunicaciones congresos




Files in This Item:
File Description SizeFormat
Indoor.pdf1,13 MBAdobe PDFThumbnail
View/Open
Show full item record
Review this work

Page view(s)

294
checked on May 28, 2022

Download(s)

4,235
checked on May 28, 2022

Google ScholarTM

Check

Altmetric

Dimensions


WARNING: Items in Digital.CSIC are protected by copyright, with all rights reserved, unless otherwise indicated.