Paper Info
Title
An INS and UWB Fusion-Based Gyroscope Drift Correction Approach for Indoor Pedestrian Tracking.
Abstract
Information fusion combining inertial navigation and radio frequency (RF) technologies, is commonly applied in indoor positioning systems (IPSs) to obtain more accurate tracking results. The performance of the inertial navigation system (INS) subsystem is affected by sensor drift over time and the RF-based subsystem aims to correct the position estimate using a fusion filter. However, the inherent sensor drift is usually not corrected during fusion, which leads to increasingly erroneous estimates over a short period of time. Among the inertial sensor drifts, gyroscope drift has the most significant impact in determining the correct orientation and accurate tracking. A gyroscope drift correction approach is proposed in this study and is incorporated in an INS and ultra-wideband (UWB) fusion IPS where only distance measurements from UWB subsystem are used. The drift correction approach is based on turn detection to account for the fact that gyroscope drift is accumulated during a turn. Practical pedestrian tracking experiments are conducted to demonstrate the accuracy of the drift correction approach. With the gyroscope drift corrected, the fusion IPS is able to provide more accurate tracking performance and achieve up to 64.52% mean position error reduction when compared to the INS only tracking result.
Year
DOI
Venue
2020
10.3390/s20164476
SENSORS
Keywords
DocType
Volume
inertial navigation system,ultra-wideband,information fusion,drift correction,pedestrian tracking
Journal
20
Issue
ISSN
Citations 
16
1424-8220
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
Qinglin Tian100.34
Kevin I-Kai Wang216729.65
Zoran Salcic300.68