Abstract
Zero velocity update (ZUPT) plays an important role in pedestrian navigation algorithms with the premise that the zero velocity interval (ZVI) should be detected accurately and effectively. A novel adaptive ZVI detection algorithm based on a smoothed pseudo Wigner–Ville distribution to remove multiple frequencies intelligently (SPWVD-RMFI) is proposed in this paper. The novel algorithm adopts the SPWVD-RMFI method to extract the pedestrian gait frequency and to calculate the optimal ZVI detection threshold in real time by establishing the function relationships between the thresholds and the gait frequency; then, the adaptive adjustment of thresholds with gait frequency is realized and improves the ZVI detection precision. To put it into practice, a ZVI detection experiment is carried out; the result shows that compared with the traditional fixed threshold ZVI detection method, the adaptive ZVI detection algorithm can effectively reduce the false and missed detection rate of ZVI; this indicates that the novel algorithm has high detection precision and good robustness. Furthermore, pedestrian trajectory positioning experiments at different walking speeds are carried out to evaluate the influence of the novel algorithm on positioning precision. The results show that the ZVI detected by the adaptive ZVI detection algorithm for pedestrian trajectory calculation can achieve better performance.
Highlights
Pedestrian navigation, having received more and more attention from researchers in recent years, is an important branch in the field of navigation
Technologies suitable for pedestrian navigation can be divided into positioning technology based on the Global Navigation Satellite System (GNSS), positioning technology based on the radio frequency (RF) signal, as well as positioning technology based on self-contained sensors
Thresholds and gait frequency, the problem of setting the thresholds adaptively for zero velocity interval (ZVI) detection at detection at different walking speeds is solved, which realizes the accurate detection of ZVI
Summary
Pedestrian navigation, having received more and more attention from researchers in recent years, is an important branch in the field of navigation. In places such as an airport, theatre, underground parking, other large public places and modern cities with tall buildings, it is necessary for pedestrians to identify their positions and find targets. Technologies suitable for pedestrian navigation can be divided into positioning technology based on the Global Navigation Satellite System (GNSS), positioning technology based on the radio frequency (RF) signal, as well as positioning technology based on self-contained sensors. The first kind is relatively mature, but the positioning accuracy is affected in indoor environments or outdoor environments with tall buildings and trees. Compared with the other two positioning technologies, PNS based on self-contained sensors has the advantages of strong autonomy and independence because it mainly adopts sensors, such as accelerometers, gyroscopes and magnetometers, to calculate pedestrian
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