A Pedestrian Dead Reckoning System Integrating Low-Cost MEMS Inertial Sensors and GPS Receiver
The body-mounted inertial systems for pedestrian navigation do not require any preinstalled facilities and can run autonomously. The advantages over other technologies make it especially attractive for the applications such as first responders, military and consumer markets. The hardware platform...
Main Authors: | , , , , |
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Format: | Article |
Language: | English |
Published: |
Eastern Macedonia and Thrace Institute of Technology
2014-04-01
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Series: | Journal of Engineering Science and Technology Review |
Subjects: | |
Online Access: | http://www.jestr.org/downloads/Volume7Issue2/fulltext297214.pdf |
Summary: | The body-mounted inertial systems for pedestrian navigation do not require any preinstalled facilities and can run
autonomously. The advantages over other technologies make it especially attractive for the applications such as first
responders, military and consumer markets. The hardware platform integrating the low-cost, low-power and small-size
MEMS (micro-electro-mechanical systems) inertial sensors and GPS (global positioning system) receiver is proposed.
When the satellite signals are available, the location of the pedestrian is directly obtained from the GPS receiver. The
inertial sensors are the complement of the GPS receiver in places where the GPS signals are not available, such as
indoors, urban canyons and places under dense foliages. The height tracking is achieved by the barometer. The proposed
PDR (pedestrian dead reckoning) algorithm is real-timely implemented in the platform. The simple but effective step
detection and step length estimation method are realized to reduce the computation and memory requirements on the
microprocessor. A complementary filter is proposed to fuse the data from the accelerometer, gyroscope and digital
compass for decreasing the heading error, which is the main error source in positioning. The reliability and accuracy of
the proposed system is verified by field pedestrian walking tests in outdoors and indoors. The positioning error is less
than 4% of the total traveled distance. The results indicate that the pedestrian dead reckoning system is able to provide
satisfactory tracking performance. |
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ISSN: | 1791-2377 1791-2377 |