A Novel Calibration Method for Gyro-Accelerometer Asynchronous Time in Foot-Mounted Pedestrian Navigation System
Pedestrian Navigation System (PNS) is one of the research focuses of indoor positioning in GNSS-denied environments based on the MEMS Inertial Measurement Unit (MIMU). However, in the foot-mounted pedestrian navigation system with MIMU or mobile phone as the main carrier, it is difficult to make the...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-12-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/1/209 |
| _version_ | 1797497593918390272 |
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| author | Tianyu Chen Gongliu Yang Qingzhong Cai Zeyang Wen Wenlong Zhang |
| author_facet | Tianyu Chen Gongliu Yang Qingzhong Cai Zeyang Wen Wenlong Zhang |
| author_sort | Tianyu Chen |
| collection | DOAJ |
| description | Pedestrian Navigation System (PNS) is one of the research focuses of indoor positioning in GNSS-denied environments based on the MEMS Inertial Measurement Unit (MIMU). However, in the foot-mounted pedestrian navigation system with MIMU or mobile phone as the main carrier, it is difficult to make the sampling time of gyros and accelerometers completely synchronous. The gyro-accelerometer asynchronous time affects the positioning of PNS. To solve this problem, a new error model of gyro-accelerometer asynchronous time is built. The effect of gyro-accelerometer asynchronous time on pedestrian navigation is analyzed. A filtering model is designed to calibrate the gyro-accelerometer asynchronous time, and a zero-velocity detection method based on the rate of attitude change is proposed. The indoor experiment shows that the gyro-accelerometer asynchronous time is estimated effectively, and the positioning accuracy of PNS is improved by the proposed method after compensating for the errors caused by gyro-accelerometer asynchronous time. |
| first_indexed | 2024-03-10T03:21:28Z |
| format | Article |
| id | doaj.art-bda93cab800e475fb584f7241195517a |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T03:21:28Z |
| publishDate | 2021-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-bda93cab800e475fb584f7241195517a2023-11-23T12:18:38ZengMDPI AGSensors1424-82202021-12-0122120910.3390/s22010209A Novel Calibration Method for Gyro-Accelerometer Asynchronous Time in Foot-Mounted Pedestrian Navigation SystemTianyu Chen0Gongliu Yang1Qingzhong Cai2Zeyang Wen3Wenlong Zhang4School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, ChinaSchool of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, ChinaSchool of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, ChinaSchool of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, ChinaSchool of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, ChinaPedestrian Navigation System (PNS) is one of the research focuses of indoor positioning in GNSS-denied environments based on the MEMS Inertial Measurement Unit (MIMU). However, in the foot-mounted pedestrian navigation system with MIMU or mobile phone as the main carrier, it is difficult to make the sampling time of gyros and accelerometers completely synchronous. The gyro-accelerometer asynchronous time affects the positioning of PNS. To solve this problem, a new error model of gyro-accelerometer asynchronous time is built. The effect of gyro-accelerometer asynchronous time on pedestrian navigation is analyzed. A filtering model is designed to calibrate the gyro-accelerometer asynchronous time, and a zero-velocity detection method based on the rate of attitude change is proposed. The indoor experiment shows that the gyro-accelerometer asynchronous time is estimated effectively, and the positioning accuracy of PNS is improved by the proposed method after compensating for the errors caused by gyro-accelerometer asynchronous time.https://www.mdpi.com/1424-8220/22/1/209gyro-accelerometer asynchronous timepedestrians navigation systemcalibration methoderror modelzero-velocity detection |
| spellingShingle | Tianyu Chen Gongliu Yang Qingzhong Cai Zeyang Wen Wenlong Zhang A Novel Calibration Method for Gyro-Accelerometer Asynchronous Time in Foot-Mounted Pedestrian Navigation System Sensors gyro-accelerometer asynchronous time pedestrians navigation system calibration method error model zero-velocity detection |
| title | A Novel Calibration Method for Gyro-Accelerometer Asynchronous Time in Foot-Mounted Pedestrian Navigation System |
| title_full | A Novel Calibration Method for Gyro-Accelerometer Asynchronous Time in Foot-Mounted Pedestrian Navigation System |
| title_fullStr | A Novel Calibration Method for Gyro-Accelerometer Asynchronous Time in Foot-Mounted Pedestrian Navigation System |
| title_full_unstemmed | A Novel Calibration Method for Gyro-Accelerometer Asynchronous Time in Foot-Mounted Pedestrian Navigation System |
| title_short | A Novel Calibration Method for Gyro-Accelerometer Asynchronous Time in Foot-Mounted Pedestrian Navigation System |
| title_sort | novel calibration method for gyro accelerometer asynchronous time in foot mounted pedestrian navigation system |
| topic | gyro-accelerometer asynchronous time pedestrians navigation system calibration method error model zero-velocity detection |
| url | https://www.mdpi.com/1424-8220/22/1/209 |
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