| Summary: | 碩士 === 國立成功大學 === 電機工程學系 === 102 === This thesis develops an integrated inertial navigation system (INS)/global positioning system (GPS) pedestrian navigation system and its associated pedestrian navigation algorithm to record pedestrian walking trajectories in indoor and outdoor environments. We developed a pedestrian trajectory reconstruction algorithm for indoor pedestrian navigation based on inertial sensing technology, and then utilized an extended Kalman filter to develop an integrated INS/GPS pedestrian navigation system and its algorithm for outdoor pedestrian navigation. First, the pedestrian inertial navigation system consists of a triaxial accelerometer, a triaxial gyroscope, a triaxial magnetometer, a microcontroller, and a Bluetooth wireless transmission module. The pedestrian trajectory reconstruction algorithm is able to reconstruct pedestrian walking trajectories using a map matching algorithm and a height/ramp detection algorithm to correct 2D walking trajectories and height estimation, respectively. We developed the extended Kalman filter (EKF) fusing with the accelerations, angular velocities, magnetic signals to decrease cumulative errors of the inertial sensors. Finally, the experimental results have successfully validated the effectiveness of the proposed pedestrian navigation system and its associated algorithms.
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