An efficient and robust maneuvering mode to calibrate low cost magnetometer for improved heading estimation for pedestrian navigation

Abstract

Personal navigation systems intend to provide the navigation information in any environment, indoors and outdoors, and at any time. In outdoor environments, the positioning solution is typically provided by using Global Positioning System (GPS). However, GPS is inaccurate or unavailable in most of indoor environments and therefore other externally-referenced sensing techniques are required. Inertial sensing techniques are used for pedestrian navigation in association with dead reckoning approach. Magnetometers can be used to derive the user’s heading by sensing the Earth’s magnetic field. In this paper, an efficient and robust maneuvering mode to calibrate low cost magnetometer is recommended for pedestrian navigation applications. Additionally, other maneuvering modes and errors associated with each mode to achieve best estimation for the calibration parameters in the 3D Space are also provided. Also, the effect of using different maneuvering modes (DMM) on the heading estimation for the pedestrian navigation is studied. The results show that the coordinated mode is suitable to perform the calibration process as the unit is rotated in a way to cover the whole 3D space.