The Improved Method for Indoor 3D Pedestrian Positioning Based on Dual Foot-Mounted IMU System
Micro-Electro-Mechanical System (MEMS) inertial sensors, characterized by their small size, low cost, and low power consumption, are commonly used in foot-mounted wearable pedestrian autonomous positioning systems. However, they also have drawbacks such as heading drift and poor repeatability. To ad...
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| Format: | Article |
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MDPI AG
2023-11-01
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| Series: | Micromachines |
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| Online Access: | https://www.mdpi.com/2072-666X/14/12/2192 |
| _version_ | 1827574116629086208 |
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| author | Haonan Jia Baoguo Yu Hongsheng Li Shuguo Pan Jun Li Xinjian Wang Lu Huang |
| author_facet | Haonan Jia Baoguo Yu Hongsheng Li Shuguo Pan Jun Li Xinjian Wang Lu Huang |
| author_sort | Haonan Jia |
| collection | DOAJ |
| description | Micro-Electro-Mechanical System (MEMS) inertial sensors, characterized by their small size, low cost, and low power consumption, are commonly used in foot-mounted wearable pedestrian autonomous positioning systems. However, they also have drawbacks such as heading drift and poor repeatability. To address these issues, this paper proposes an improved pedestrian autonomous 3D positioning algorithm based on dual-foot motion characteristic constraints. Two sets of small-sized Inertial Measurement Units (IMU) are worn on the left and right feet of pedestrians to form an autonomous positioning system, each integrated with low-cost, low-power micro-inertial sensor chips. On the one hand, an improved adaptive zero-velocity detection algorithm is employed to enhance discrimination accuracy under different step-speed conditions. On the other hand, considering the dual-foot gait characteristics and the height difference feature during stair ascent and descent, horizontal position update algorithms based on dual-foot motion trajectory constraints and height update algorithms based on dual-foot height differences are, respectively, designed. These algorithms aim to re-correct the pedestrian position information updated at zero velocity in both horizontal and vertical directions. The experimental results indicate that in a laboratory environment, the 3D positioning error is reduced by 93.9% compared to unconstrained conditions. Simultaneously, the proposed approach enhances the accuracy, continuity, and repeatability of the foot-mounted IMU positioning system without the need for additional power consumption. |
| first_indexed | 2024-03-08T20:31:44Z |
| format | Article |
| id | doaj.art-354da96c6c7a4486a8d7e4a5282d41cc |
| institution | Directory Open Access Journal |
| issn | 2072-666X |
| language | English |
| last_indexed | 2024-03-08T20:31:44Z |
| publishDate | 2023-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Micromachines |
| spelling | doaj.art-354da96c6c7a4486a8d7e4a5282d41cc2023-12-22T14:25:22ZengMDPI AGMicromachines2072-666X2023-11-011412219210.3390/mi14122192The Improved Method for Indoor 3D Pedestrian Positioning Based on Dual Foot-Mounted IMU SystemHaonan Jia0Baoguo Yu1Hongsheng Li2Shuguo Pan3Jun Li4Xinjian Wang5Lu Huang6School of Instrument Science and Engineering, Southeast University, Nanjing 210096, ChinaState Key Laboratory of Satellite Navigation System and Equipment Technology, The 54th Research Institute of China Electronics Technology Group Corporation, Shijiazhuang 050081, ChinaSchool of Instrument Science and Engineering, Southeast University, Nanjing 210096, ChinaSchool of Instrument Science and Engineering, Southeast University, Nanjing 210096, ChinaState Key Laboratory of Satellite Navigation System and Equipment Technology, The 54th Research Institute of China Electronics Technology Group Corporation, Shijiazhuang 050081, ChinaState Key Laboratory of Satellite Navigation System and Equipment Technology, The 54th Research Institute of China Electronics Technology Group Corporation, Shijiazhuang 050081, ChinaState Key Laboratory of Satellite Navigation System and Equipment Technology, The 54th Research Institute of China Electronics Technology Group Corporation, Shijiazhuang 050081, ChinaMicro-Electro-Mechanical System (MEMS) inertial sensors, characterized by their small size, low cost, and low power consumption, are commonly used in foot-mounted wearable pedestrian autonomous positioning systems. However, they also have drawbacks such as heading drift and poor repeatability. To address these issues, this paper proposes an improved pedestrian autonomous 3D positioning algorithm based on dual-foot motion characteristic constraints. Two sets of small-sized Inertial Measurement Units (IMU) are worn on the left and right feet of pedestrians to form an autonomous positioning system, each integrated with low-cost, low-power micro-inertial sensor chips. On the one hand, an improved adaptive zero-velocity detection algorithm is employed to enhance discrimination accuracy under different step-speed conditions. On the other hand, considering the dual-foot gait characteristics and the height difference feature during stair ascent and descent, horizontal position update algorithms based on dual-foot motion trajectory constraints and height update algorithms based on dual-foot height differences are, respectively, designed. These algorithms aim to re-correct the pedestrian position information updated at zero velocity in both horizontal and vertical directions. The experimental results indicate that in a laboratory environment, the 3D positioning error is reduced by 93.9% compared to unconstrained conditions. Simultaneously, the proposed approach enhances the accuracy, continuity, and repeatability of the foot-mounted IMU positioning system without the need for additional power consumption.https://www.mdpi.com/2072-666X/14/12/2192pedestrian navigationdual-footinequality constraintKalman filterInertial Measurement Unit (IMU) |
| spellingShingle | Haonan Jia Baoguo Yu Hongsheng Li Shuguo Pan Jun Li Xinjian Wang Lu Huang The Improved Method for Indoor 3D Pedestrian Positioning Based on Dual Foot-Mounted IMU System Micromachines pedestrian navigation dual-foot inequality constraint Kalman filter Inertial Measurement Unit (IMU) |
| title | The Improved Method for Indoor 3D Pedestrian Positioning Based on Dual Foot-Mounted IMU System |
| title_full | The Improved Method for Indoor 3D Pedestrian Positioning Based on Dual Foot-Mounted IMU System |
| title_fullStr | The Improved Method for Indoor 3D Pedestrian Positioning Based on Dual Foot-Mounted IMU System |
| title_full_unstemmed | The Improved Method for Indoor 3D Pedestrian Positioning Based on Dual Foot-Mounted IMU System |
| title_short | The Improved Method for Indoor 3D Pedestrian Positioning Based on Dual Foot-Mounted IMU System |
| title_sort | improved method for indoor 3d pedestrian positioning based on dual foot mounted imu system |
| topic | pedestrian navigation dual-foot inequality constraint Kalman filter Inertial Measurement Unit (IMU) |
| url | https://www.mdpi.com/2072-666X/14/12/2192 |
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