Bias Compensation Methods for Pedestrian Dead Reckoning with a Low-Cost IMU

• Main Authors: Yi-Lin Hsu, 許翼麟
• Other Authors: Sheng-Wen Shih
• Format: Others
• Language: en_US
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/27504089002648591404

碩士 === 國立暨南國際大學 === 資訊工程學系 === 100 === In this paper, a pedestrian dead reckoning (PDR) method is proposed based on the particle filter framework with map information and measurements from a foot-mounted inertial measurement unit (IMU) and a global positioning system (GPS). The main challenging of computing PDR with IMU signals is that the biases of IMU sensors will result in unbounded integration drift. Therefore, a new method that uses non-zero velocity data for zero-velocity update of the accelerometer biases is proposed. Also, a measurement equation for the rate-gyro biases using accelerometer measurements are derived. We also show that some heuristic drift canceling rules can be easily incorporated into the particle filter framework. Experimental results show that the proposed method can effectively reduce the accumulation error.