허리 장착 기반의 IMU 센서를 이용한 3D 보행자 위치 추정 알고리즘 연구

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.