Sensors, Vol. 19, Pages 3962: Novel Drift Reduction Methods in Foot-Mounted PDR System

Sensors, Vol. 19, Pages 3962: Novel Drift Reduction Methods in Foot-Mounted PDR System
Sensors doi: 10.3390/s19183962
Authors:
Zhang
Wei
Yuan

The zero-velocity update (ZUPT)-aided extended Kalman filter (EKF) is commonly used in the traditional inertial navigation system (INS)-based foot-mounted pedestrian dead reckoning (PDR) system, which can effectively suppress the error growth of the inertial-based pedestrian navigation systems. However, in the realistic test, the system still often suffers from drift, which is commonly caused by two reasons: failed detection of the stationary phase in the dynamic pedestrian gait and heading drift, which is a poorly observable variable of the ZUPT method. In this paper, firstly, in order to improve the initial heading alignment accuracy, a novel method to calibrate the PDR system’s initial absolute heading is proposed which is based on the geometric method. By using a calibration line rather than only using the heading of the starting point, the method can calibrate the initial heading of the PDR system more accurately. Secondly, for the problem of failed detection of the stationary phase in the dynamic pedestrian gait, a novel stationary phase detection method is proposed, which is based on foot motion periodicity rather than the threshold comparison principle in the traditional method. In an experiment, we found that the zero-speed state points always occur around the minimum value of the stationary detecto...

Source: Sensors - September 12, 2019 Category: Biotechnology Authors: Zhang Wei Yuan Tags: Article Source Type: research