An Efficient and Low-Latency Deep Inertial Odometer for Smartphone Positioning

Abstract

The Global Positioning System (GPS) is not an effective solution for pedestrian indoor navigation using embedded devices because of poor signal penetration and high power requirements. Indoor positioning based purely on commercial-grade inertial measurement units (IMUs) may provide a good alternative but their significant noise and random bias must be eliminated. Although Kalman filters and pedestrian dead reckoning helped reduce the errors using IMUs, these methods cannot prevent the divergence of estimated position error. Deep learning was proposed for accurate position estimation with IMUs. Despite the progress, robust position estimation in mobile embedded devices using deep learning has not been established yet because of memory requirements, latency and inaccurate position estimation especially for stationary pedestrians. In this study, we present an efficient embedded deep learning approach for robust, real-time and accurate pedestrian position estimation using commercial Android smartphone IMUs. We first extended a publicly available deep inertial navigation dataset (OxIOD) with stationary data to enhance the positioning accuracy for both steady state and motion. Next, we trained and tested a deep learning architecture that yields a higher positioning accuracy with 50% lower network latency and 31% lower network size compared with earlier deep positioning networks such as IONet. Our real-time tests of the model in an Android smartphone indicated that the extension for the dataset reduces the position shift when the smartphone is stationary. Since our embedded deep learning solution simultaneously decreases the positioning error, latency and memory requirements, the solution paves the way for numerous practical indoor navigation applications.