Indoor Positioning System Based on Chest-Mounted IMU

被引:57
作者
Lu, Chuanhua [1 ]
Uchiyama, Hideaki [2 ]
Thomas, Diego [3 ]
Shimada, Atsushi [3 ]
Taniguchi, Rin-ichiro [3 ]
机构
[1] Kyushu Univ, Grad Sch Informat Sci & Elect Engn, Fukuoka, Fukuoka 8190395, Japan
[2] Kyushu Univ, Fukuoka, Fukuoka 8190395, Japan
[3] Kyushu Univ, Fac Informat Sci & Elect Engn, Fukuoka, Fukuoka 8190395, Japan
关键词
pedestrian dead reckoning; inertial navigation; accelerometers; gyroscopes; barometers; map matching; particle filters; ALGORITHMS;
D O I
10.3390/s19020420
中图分类号
O65 [分析化学];
学科分类号
070302 ; 081704 ;
摘要
Demand for indoor navigation systems has been rapidly increasing with regard to location-based services. As a cost-effective choice, inertial measurement unit (IMU)-based pedestrian dead reckoning (PDR) systems have been developed for years because they do not require external devices to be installed in the environment. In this paper, we propose a PDR system based on a chest-mounted IMU as a novel installation position for body-suit-type systems. Since the IMU is mounted on a part of the upper body, the framework of the zero-velocity update cannot be applied because there are no periodical moments of zero velocity. Therefore, we propose a novel regression model for estimating step lengths only with accelerations to correctly compute step displacement by using the IMU data acquired at the chest. In addition, we integrated the idea of an efficient map-matching algorithm based on particle filtering into our system to improve positioning and heading accuracy. Since our system was designed for 3D navigation, which can estimate position in a multifloor building, we used a barometer to update pedestrian altitude, and the components of our map are designed to explicitly represent building-floor information. With our complete PDR system, we were awarded second place in 10 teams for the IPIN 2018 Competition Track 2, achieving a mean error of 5.2 m after the 800 m walking event.
引用
收藏
页数:20
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