Altitude and Heading Correction of 3D Pedestrian Inertial Navigation
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In this paper, we propose techniques to correct the altitude error and heading error of 3D Pedestrian Inertial Navigation (PIN). When a PIN is used to estimate the location of a pedestrian only with an Inetrial Measurement Unit (IMU) without infrastructure, there is a problem in that the location error gradually increases due to the limitation of the observability of the filter. To solve this problem without additional sensors, we propose two techniques in this paper. First, stair walking is recognized in consideration of the altitude difference that may occur during one step. If it is recognized as stair walking, only Zero-velocity UPdaTe (ZUPT) is performed, and if it is recognized as level walking, ZUPT + Altitude Damping (AD) is performed together to correct the altitude error. Second, the straight-line movement direction is calculated through the difference of the estimated position, and the heading error is corrected by matching this information with the link information of the digital map. By applying these techniques, it is verified through real tests that accurate three-dimensional location information of pedestrians can be estimated without infrastructure.
Abstract
In this paper, we propose techniques to correct the altitude error and heading error of 3D Pedestrian Inertial Navigation (PIN). When a PIN is used to estimate the location of a pedestrian only with an Inetrial Measurement Unit (IMU) without infrastructure, there is a problem in that the location error gradually increases due to the limitation of the observability of the filter. To solve this problem without additional sensors, we propose two techniques in this paper. First, stair walking is recognized in consideration of the altitude difference that may occur during one step. If it is recognized as stair walking, only Zero-velocity UPdaTe (ZUPT) is performed, and if it is recognized as level walking, ZUPT + Altitude Damping (AD) is performed together to correct the altitude error. Second, the straight-line movement direction is calculated through the difference of the estimated position, and the heading error is corrected by matching this information with the link information of the digital map. By applying these techniques, it is verified through real tests that accurate three-dimensional location information of pedestrians can be estimated without infrastructure.
참고문헌 (11)
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