Name
Abstract | ||
|---|---|---|
The traditional pedestrian navigation system that uses zero velocity update algorithm cannot calculate traveled distance accurately or observe the heading error. A new model called body odometer (BOR) that consists of a step length model and a correction factor is proposed to obtain precise single step length for dead reckoning. A BOR/MINS integrated framework uses the difference between micro electro mechanical inertial navigation system (MINS) calculated distance and single step length, as a new observation to estimate the correction factor and compensate navigation errors via a Kalman filter. To eliminate the heading error accumulation, a new gyro drift reduction method that combines heuristic drift reduction method and complementary filter is presented. The 200 m straight line experiments show that the calculated distance by BOR/MINS integrated method is much closer to the real distance with the average error percentage of 0.24%. Three differently designed trajectories’ experiments show that the proposed method has a higher match degree with the real trajectories and the positioning error with respect to the total traveled distance is less than 0.6%. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1109/TIE.2019.2921275 | IEEE Transactions on Industrial Electronics |
Keywords | Field | DocType |
Legged locomotion,Estimation,Acceleration,Inertial navigation,Accelerometers,Dead reckoning | Pedestrian navigation,Real-time computing,Control engineering,Engineering | Journal |
Volume | Issue | ISSN |
67 | 5 | 0278-0046 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Zhi-Hong Deng | 1 | 185 | 23.33 |
| Pengyu Wang | 2 | 0 | 0.34 |
| Liu Tong | 3 | 1 | 3.75 |
| Yun Cao | 4 | 0 | 0.34 |
| Bo Wang | 5 | 89 | 16.94 |