Abstract
With the development of related applications, indoor positioning techniques have been more and more widely developed. Based on Wi-Fi, Bluetooth low energy (BLE) and geomagnetism, indoor positioning techniques often rely on the physical location of fingerprint information. The focus and difficulty of establishing the fingerprint database are in obtaining a relatively accurate physical location with as little given information as possible. This paper presents a foot-mounted inertial measurement unit (IMU) positioning algorithm under the loop closure constraint based on magnetic information. It can provide relatively reliable position information without maps and geomagnetic information and provides a relatively accurate coordinate for the collection of a fingerprint database. In the experiment, the features extracted by the multi-level Fourier transform method proposed in this paper are validated and the validity of loop closure matching is tested with a RANSAC-based method. Moreover, the loop closure detection results show that the cumulative error of the trajectory processed by the graph optimization algorithm is significantly suppressed, presenting a good accuracy. The average error of the trajectory under loop closure constraint is controlled below 2.15 m.
Highlights
With the development of Location Based Services (LBS), the demand for high-precision indoor positioning techniques is becoming more and more urgent
GPS (Global Positioning System) is not available indoors, many techniques aiming at indoor positioning have been proposed, especially the positioning techniques based on wireless sensors such as Wi-Fi, Bluetooth Low Energy (BLE) and ultra-wide bind (UWB) and the techniques based on magnetic fields and inertial measurement units (IMU)
A loop closure detection method based on geomagnetic information is proposed for foot-mounted IMU
Summary
With the development of Location Based Services (LBS), the demand for high-precision indoor positioning techniques is becoming more and more urgent. As the high accurate and reliable outdoor. GPS (Global Positioning System) is not available indoors, many techniques aiming at indoor positioning have been proposed, especially the positioning techniques based on wireless sensors such as Wi-Fi, Bluetooth Low Energy (BLE) and ultra-wide bind (UWB) and the techniques based on magnetic fields and inertial measurement units (IMU). Indoor positioning techniques based on UWB have been rapidly developed because of its high positioning accuracy. It has a decimeter-level positioning accuracy in a line-of-sight (LOS) environment [1], its accuracy in a non-line-of-sight (NLOS). The cost of its sensor is relatively high, which is not beneficial to its application and promotion
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