Abstract
In order to overcome the poor observability of yaw measurement for foot-mounted inertial measurement unit (IMU), an integrated IMU+Compass scheme for self-contained pedestrian navigation is presented. In this mode, the compass measurement is used to provide the accurate yaw to improve the accuracy of the attitude transformation matrix for the foot-mounted IMU solution. And then, when the person is in a stance phase during walk, a unbiased finite impulse response (UFIR) filter based on the self-contained pedestrian navigation scheme is investigated, which just needs the state vector size MU and the filtering horizon size NU, while ignoring the noise statistics compared with the Kalman filter (KF). Finally, a real test has been done to verify the performance of the proposed self-contained pedestrian navigation using the IMU and compass measurements via UFIR filter. The test results show that the proposed filter has robust performance compared with the KF.
Highlights
Indoor pedestrian navigation (PN), which provides the position and the heading information of the target person in indoor environment, has received a topic [1, 2].In order to provide the accurate position information of the person in indoor environment, many approaches have been proposed
We propose a self-contained pedestrian navigation by fusing the inertial measurement unit (IMU) and compass measurements via unbiased finite impulse response (UFIR) filtering
To the self-contained pedestrian navigation scheme, the compass measurement is used to provide the accurate yaw to improve the accuracy of the attitude transformation matrix for the foot-mounted IMU solution
Summary
Indoor pedestrian navigation (PN), which provides the position and the heading information of the target person in indoor environment, has received a topic [1, 2]. One of the famous examples is the navigation shoe proposed in [11], which employs the foot-mounted inertial measurement unit (IMU) to correct the error drift of the INS solution Based on this model, there are many improving approaches. To the self-contained pedestrian navigation scheme, the compass measurement is used to provide the accurate yaw to improve the accuracy of the attitude transformation matrix for the foot-mounted IMU solution. When the person is in a stance phase, the unbiased finite impulse response (UFIR) filter works; it employs the measurement of the velocity error derived from the foot-mounted IMU to estimate the INS position error; the INS solution is corrected by the error estimation. Based on the self-contained pedestrian navigation scheme proposed, a UFIR filter with a 15-element vector will be introduced in this paper. We can say that the UFIR filter is more robust than the KF filter
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
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
