Abstract
Information fusion combining inertial navigation and radio frequency (RF) technologies, is commonly applied in indoor positioning systems (IPSs) to obtain more accurate tracking results. The performance of the inertial navigation system (INS) subsystem is affected by sensor drift over time and the RF-based subsystem aims to correct the position estimate using a fusion filter. However, the inherent sensor drift is usually not corrected during fusion, which leads to increasingly erroneous estimates over a short period of time. Among the inertial sensor drifts, gyroscope drift has the most significant impact in determining the correct orientation and accurate tracking. A gyroscope drift correction approach is proposed in this study and is incorporated in an INS and ultra-wideband (UWB) fusion IPS where only distance measurements from UWB subsystem are used. The drift correction approach is based on turn detection to account for the fact that gyroscope drift is accumulated during a turn. Practical pedestrian tracking experiments are conducted to demonstrate the accuracy of the drift correction approach. With the gyroscope drift corrected, the fusion IPS is able to provide more accurate tracking performance and achieve up to 64.52% mean position error reduction when compared to the INS only tracking result.
Highlights
Accurate and reliable indoor positioning and tracking is a key enabler for a number of location-based services including navigation, elderly healthcare, emergency responder, etc. [1].The performance of global positioning systems deteriorates severely in indoor environment and urban canyon due to signal attenuation [2]
The results demonstrate that the fusion IPSs (FIPSs) is able to achieve better tracking performance with gyroscope drift corrected
11. end if Unlike turn detection algorithms using data from sensors mounted on specific part of the body [27] that are only applicable to systems using the same sensors, the proposed turn detection only relies on moving orientation of the pedestrian, which is an essential information provided by all indoor positioning systems (IPSs)
Summary
Accurate and reliable indoor positioning and tracking is a key enabler for a number of location-based services including navigation, elderly healthcare, emergency responder, etc. [1]. A developed IPS combining accelerometer and gyroscope is able to provide accurate location tracking up to 100 m and the accuracy deteriorates significantly over time afterwards mainly due to sensor drift [10]. A turn detection-based gyroscope drift correction approach is proposed and incorporated with an INS and UWB FIPS, where only distance measurements from UWB subsystem are used [19]. A novel gyroscope drift estimation algorithm is proposed by only utilizing heading orientations and location estimations from sensor fusion system, which can be readily applied to and integrated with other systems using different sensing hardware and algorithms (further discussed in Section 2); The number of required UWB anchors in the fusion system can be significantly reduced by fusing only distance measurements from arbitrary number of available anchors.
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