Abstract
Pedestrian Dead Reckoning (PDR) by combining the Inertial Measurement Unit (IMU) and magnetometer is an independent navigation approach based on multiple sensors. Since the inertial component error is significantly determined by the parameters of navigation equations, the navigation precision may deteriorate with time, which is inappropriate for long-time navigation. Although the BeiDou (BD) navigation system can provide high navigation precision in most scenarios, the signal from satellites is easily degraded because of buildings or thick foliage. To solve this problem, a tightly-coupled BD/MEMS (Micro-Electro-Mechanical Systems) integration algorithm is proposed in this paper, and a prototype was built for implementing the integrated system. The extensive experiments prove that the BD/MEMS system performs well in different environments, such as an open sky environment and a playground surrounded by trees and thick foliage. The proposed algorithm is able to provide continuous and reliable positioning service for pedestrian outdoors and thereby has wide practical application.
Highlights
With the rapid development of sensor technology, Location-Based Services (LBSs) bring much convenience to people’s daily lives [1], such as making friends, sharing locations, gathering the neighboring business information and planning walk paths [2,3]
Mnx = mbx cos γ + mby sin γ sin θ − mbz cos θ sin γ mny = mby cos θ + mbz sin θ where mbx, mby and mbz are magnetic strengths measured by the magnetometer under the Body Frame System (BFS), while mnx and mny are the ones under the NEU system
The data from the BD and Mechanical Systems (MEMS) sensor are processed by using the ARM9 processor
Summary
With the rapid development of sensor technology, Location-Based Services (LBSs) bring much convenience to people’s daily lives [1], such as making friends, sharing locations, gathering the neighboring business information and planning walk paths [2,3]. Based on the previous discussion, the GNSS is time independent, but performs poorly when the signal is degraded or there are less than four visible satellites, while the INS is environment independent, but constrained by error accumulation. To solve this problem, various kinds of integration approaches have been proposed to integrate the satellites and inertial sensors with the purpose of precise and continuous navigation [8]. We propose a low-cost BD/MEMS tightly-coupled algorithm for pedestrian navigation, and a portable hardware platform is developed.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
