IEKF-SWCS Method for Pedestrian Self-navigation and Location

Authors

Zhe Gao, Beijing Information Science and Technology University Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing 100101, China;
Li Qing, Beijing Information Science and Technology University Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing 100101, China;
Li Chao, Beijing Information Science and Technology University Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing 100101, China;
Liu Ning, Beijing Information Science and Technology University Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing 100101, China;

Abstract

Abstract: In the process of using wearable inertial measurement unit to realize pedestrian navigation, accumulated drift errors are increasing with pedestrian moving, which has serious effects on the navigation accuracy. To solve this problem, a pedestrian self-navigation and location method was proposed based on improved extended kalman filter (IEKF). An 18 dimensional filter model fused with human motion characteristics was built. Meanwhile, a step wise closed loop smoothing (SWCS) algorithm was designed in IEKF, which could eliminate the sharp correction at some sample points and improve the smoothness of the trajectory. A self-developed IMU sensor was used to make tests. The results demonstrate that the proposed method can significantly restrain the divergence of MEMS IMU, and effectively improve the location accuracy. In the process, no extra hardware cost has produced. So this method has practical application value for pedestrian navigation.

Recommended Citation

Gao, Zhe; Qing, Li; Chao, Li; and Ning, Liu (2020) "IEKF-SWCS Method for Pedestrian Self-navigation and Location," Journal of System Simulation: Vol. 27: Iss. 9, Article 3.
Available at: https://dc-china-simulation.researchcommons.org/journal/vol27/iss9/3

First Page

1944

Revised Date

2015-07-07

DOI Link

https://doi.org/

Last Page

1950

CLC

TP391.9

Recommended Citation

Gao Zhe, Li Qing, Li Chao, Liu Ning. IEKF-SWCS Method for Pedestrian Self-navigation and Location[J]. Journal of System Simulation, 2015, 27(9): 1944-1950.