Abstract
In the field of indoor pedestrian positioning, the improved Quasi-Static magnetic Field (iQSF) method has been proposed to estimate gyroscope biases in magnetically perturbed environments. However, this method is only effective when a person walks along straight-line paths. For other curved or more complex path patterns, the iQSF method would fail to detect the quasi-static magnetic field. To address this issue, a novel approach is developed for quasi-static magnetic field detection in foot-mounted Inertial Navigation System. The proposed method detects the quasi-static magnetic field using the rate of change in differences between the magnetically derived heading and the heading derived from gyroscope. In addition, to eliminate the distortions caused by system platforms and shoes, a magnetometer calibration method is developed and the calibration is transformed from three-dimensional to two-dimensional coordinate according to the motion model of a pedestrian. The experimental results demonstrate that the proposed method can provide superior performance in suppressing the heading errors with the comparison to iQSF method.
Highlights
High accuracy and infrastructure-free indoor pedestrian positioning is a highly desired ability for finding and rescuing firefighters or other emergency first responders, or for personal navigation assistance
To address the aforementioned issues, we propose a novel quasi-static magnetic field detection approach for foot-mounted inertial measurement unit (IMU) system
The proposed method detects the quasi-static magnetic field using the rate of change in differences between the magnetically derived heading and the heading derived from gyroscope
Summary
High accuracy and infrastructure-free indoor pedestrian positioning is a highly desired ability for finding and rescuing firefighters or other emergency first responders, or for personal navigation assistance. The range information provided by the MPS is used as the measurement fed into EKF to correct the position of the DR-INS This method can provide bounded position errors of 1–2 m over significantly long periods of time up to 45 min. In Reference [23], a Quasi-Static magnetic Field (QSF) approach was developed to estimate the heading error in perturbed indoor environments. The approach detects a QSF based on the rate of change in the magnetic field magnitude This method can suppress the heading drift and improve the positioning accuracy, it can lead false-alarm detection when the magnitude of each axis changes with different ratio while the magnitude of total field has very slight changes. The quasi-static magnetic field detected by the proposed method can be utilized as the measurement, which can be fed into the ZUPT-aided EKF to estimate the gyroscope biases.
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