Magnetic, Acceleration Fields and Gyroscope Quaternion (MAGYQ)-Based Attitude Estimation with Smartphone Sensors for Indoor Pedestrian Navigation
The dependence of proposed pedestrian navigation solutions on a dedicated infrastructure is a limiting factor to the deployment of location based services. Consequently self-contained Pedestrian Dead-Reckoning (PDR) approaches are gaining interest for autonomous navigation. Even if the quality of lo...
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| Format: | Article |
| Language: | English |
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MDPI AG
2014-12-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/14/12/22864 |
| _version_ | 1811187520091717632 |
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| author | Valérie Renaudin Christophe Combettes |
| author_facet | Valérie Renaudin Christophe Combettes |
| author_sort | Valérie Renaudin |
| collection | DOAJ |
| description | The dependence of proposed pedestrian navigation solutions on a dedicated infrastructure is a limiting factor to the deployment of location based services. Consequently self-contained Pedestrian Dead-Reckoning (PDR) approaches are gaining interest for autonomous navigation. Even if the quality of low cost inertial sensors and magnetometers has strongly improved, processing noisy sensor signals combined with high hand dynamics remains a challenge. Estimating accurate attitude angles for achieving long term positioning accuracy is targeted in this work. A new Magnetic, Acceleration fields and GYroscope Quaternion (MAGYQ)-based attitude angles estimation filter is proposed and demonstrated with handheld sensors. It benefits from a gyroscope signal modelling in the quaternion set and two new opportunistic updates: magnetic angular rate update (MARU) and acceleration gradient update (AGU). MAGYQ filter performances are assessed indoors, outdoors, with dynamic and static motion conditions. The heading error, using only the inertial solution, is found to be less than 10° after 1.5 km walking. The performance is also evaluated in the positioning domain with trajectories computed following a PDR strategy. |
| first_indexed | 2024-04-11T14:03:30Z |
| format | Article |
| id | doaj.art-453927af4e37448d95745fddbcfc880c |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T14:03:30Z |
| publishDate | 2014-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-453927af4e37448d95745fddbcfc880c2022-12-22T04:19:58ZengMDPI AGSensors1424-82202014-12-011412228642289010.3390/s141222864s141222864Magnetic, Acceleration Fields and Gyroscope Quaternion (MAGYQ)-Based Attitude Estimation with Smartphone Sensors for Indoor Pedestrian NavigationValérie Renaudin0Christophe Combettes1IFSTTAR, GEOLOC Laboratory, Route de Bouaye CS4, Bouguenais 44344, FranceIFSTTAR, GEOLOC Laboratory, Route de Bouaye CS4, Bouguenais 44344, FranceThe dependence of proposed pedestrian navigation solutions on a dedicated infrastructure is a limiting factor to the deployment of location based services. Consequently self-contained Pedestrian Dead-Reckoning (PDR) approaches are gaining interest for autonomous navigation. Even if the quality of low cost inertial sensors and magnetometers has strongly improved, processing noisy sensor signals combined with high hand dynamics remains a challenge. Estimating accurate attitude angles for achieving long term positioning accuracy is targeted in this work. A new Magnetic, Acceleration fields and GYroscope Quaternion (MAGYQ)-based attitude angles estimation filter is proposed and demonstrated with handheld sensors. It benefits from a gyroscope signal modelling in the quaternion set and two new opportunistic updates: magnetic angular rate update (MARU) and acceleration gradient update (AGU). MAGYQ filter performances are assessed indoors, outdoors, with dynamic and static motion conditions. The heading error, using only the inertial solution, is found to be less than 10° after 1.5 km walking. The performance is also evaluated in the positioning domain with trajectories computed following a PDR strategy.http://www.mdpi.com/1424-8220/14/12/22864indoor navigationMEMSquaternionattitude estimationKalman filtermagnetic angular rate updateacceleration gradient updatemagnetometer |
| spellingShingle | Valérie Renaudin Christophe Combettes Magnetic, Acceleration Fields and Gyroscope Quaternion (MAGYQ)-Based Attitude Estimation with Smartphone Sensors for Indoor Pedestrian Navigation Sensors indoor navigation MEMS quaternion attitude estimation Kalman filter magnetic angular rate update acceleration gradient update magnetometer |
| title | Magnetic, Acceleration Fields and Gyroscope Quaternion (MAGYQ)-Based Attitude Estimation with Smartphone Sensors for Indoor Pedestrian Navigation |
| title_full | Magnetic, Acceleration Fields and Gyroscope Quaternion (MAGYQ)-Based Attitude Estimation with Smartphone Sensors for Indoor Pedestrian Navigation |
| title_fullStr | Magnetic, Acceleration Fields and Gyroscope Quaternion (MAGYQ)-Based Attitude Estimation with Smartphone Sensors for Indoor Pedestrian Navigation |
| title_full_unstemmed | Magnetic, Acceleration Fields and Gyroscope Quaternion (MAGYQ)-Based Attitude Estimation with Smartphone Sensors for Indoor Pedestrian Navigation |
| title_short | Magnetic, Acceleration Fields and Gyroscope Quaternion (MAGYQ)-Based Attitude Estimation with Smartphone Sensors for Indoor Pedestrian Navigation |
| title_sort | magnetic acceleration fields and gyroscope quaternion magyq based attitude estimation with smartphone sensors for indoor pedestrian navigation |
| topic | indoor navigation MEMS quaternion attitude estimation Kalman filter magnetic angular rate update acceleration gradient update magnetometer |
| url | http://www.mdpi.com/1424-8220/14/12/22864 |
| work_keys_str_mv | AT valerierenaudin magneticaccelerationfieldsandgyroscopequaternionmagyqbasedattitudeestimationwithsmartphonesensorsforindoorpedestriannavigation AT christophecombettes magneticaccelerationfieldsandgyroscopequaternionmagyqbasedattitudeestimationwithsmartphonesensorsforindoorpedestriannavigation |