Abstract
This paper proposes a three-dimensional pedestrian position estimation algorithm using a waist-mounted Inertial Measurement Unit (IMU) sensor. A Pedestrian Dead Reckoning (PDR) system has been implemented using a single IMU sensor to locate a pedestrian who is carrying the PDR system on his waist in a building in which GPS signals are too weak to be utilized for localization. The position estimation system using IMU data suffers from degraded accuracy caused by the bias drift of gyroscope values. This approach adopts the quaternion to reduce the bias drift and obtain the precise Euler angles to localize the pedestrian in two-dimensional space with the step length estimation. To extend the localization into three-dimensional space to incorporate situations in which the pedestrian is ascending or descending the stairs, Zero-Velocity UpdaTe (ZUPT) scheme has been applied for processing gyroscope data from the IMU sensor. Real experiments have been performed to show the proposed algorithm’s effectiveness in both two- and three-dimensional spaces.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
More From: Journal of Institute of Control, Robotics and Systems
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.