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首页> 外文会议>International Technical Meeting of The Institute of Navigation >Pedestrian Dead Reckoning Indoor Positioning with Step Detection Based on foot-mounted IMU
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Pedestrian Dead Reckoning Indoor Positioning with Step Detection Based on foot-mounted IMU

机译：基于脚踏式IMU的步行者抵消了步进探测的行人死亡

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摘要

A pedestrian dead reckoning (PDR) indoor positioning method with step detection based on foot-mounted Inertial Measuring Units (IMU) is proposed, tested, and analyzed in the paper. Initial alignment is completed with accelerometers and magnetometers. By estimating and compensating the drift errors in each step, the proposed method can reduce errors during the footsteps. There is an advantage of the step detection combined with Zero Velocity Update (ZUPT) and Zero Angular Rate Update (ZARU) for calculating the actual travelled distance, and estimating the IMU sensors' inherent accumulated error by Extended Kalman Filter (EKF). Based on the above discussion, all algorithms are derived in details in the paper. Several tests with an Xsens IMU device have been performed in order to evaluate the performance of the proposed method. The results show that the dead reckoning positioning system has higher performance for a pedestrian indoors, and the position errors range from 0.5% to 2% of the total travelled distance, which are averagely better than existing PDR positioning accuracy, normally ranges from 0.3% to 10% of the total traveled distance.
机译：提出，基于脚踏式惯性测量单元（IMU）的步行次数（PDR）室内定位方法，并在纸上进行了测试和分析。使用加速度计和磁力计完成初始对准。通过估计和补偿每个步骤中的漂移误差，所提出的方法可以减少脚步期间的错误。有步骤检测用零速度更新（ZUPT）和零角速率更新（扎鲁）组合，用于计算实际行驶距离，和由扩展卡尔曼滤波器（EKF）估计IMU传感器的固有累积误差的优点。基于上述讨论，所有算法都是纸张中的详细信息。已经执行了具有XSEN IMU设备的几次测试，以便评估所提出的方法的性能。结果表明，死亡的定位系统对室内行人的性能较高，位置误差范围为总行驶距离的0.5％至2％，这比现有的PDR定位精度更好，通常为0.3％总旅行距离的10％。

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