Step detection for smartphones plays an important role in the pedestrian dead reckoning (PDR) for indoor positioning. Aiming at the problem of low step detection accuracy of smartphones in complex unconstrained states in PDR, smartphone-based unconstrained step detection method fusing a variable sliding window and an adaptive threshold is proposed. In this method, the dynamic updating algorithm of a peak threshold is developed, and the minimum peak value filtered after a sliding window filter is used as the adaptive peak threshold, which solves the problem that the peak threshold of different motion states is difficult to update adaptively. Then, a variable sliding window collaborative time threshold method is proposed, which solves the problem that the adjacent windows cannot be contacted, and the initial peak and the end peak are difficult to accurately identify. To evaluate the performance of the proposed unconstrained step detection algorithm, 50 experiments in constrained and unconstrained states are conducted by 25 volunteers holding 21 different types of smartphones. Experimental results show: The average step counting accuracy of the proposed unconstrained step detection algorithm is over 98%. Compared with the open source program Stepcount, the average step counting accuracy of the proposed algorithm is improved by 10.0%. The smartphone-based unconstrained step detection fusing a variable sliding window and an adaptive threshold has a strong ability to adapt to complex unconstrained states, and the average step counting accuracy rate is only 0.6% lower than that of constrained states. This algorithm has a wide audience and is friendly for different genders and smartphones with different prices.
The global navigation satellite system (GNSS) and inertial navigation system (INS) integrated navigation system have been widely used in Intelligent Transportation Systems (ITSs). However, the positioning error of integrated navigation systems is rapidly divergent when GNSS outages occur. Motion constraint and back propagation (BP) neural networks can provide additional knowledge to solve this issue. However, the predictions of a neural network have outliers and motion constraint is difficult to adapt according to the motion states of vehicles and boats. Therefore, this paper fused a BP neural network with motion constraints, and proposed a motion-constrained GNSS/INS integrated navigation method based on a BP neural network (MC-BP method). The pseudo-measurement of the GNSS was predicted using a fitting model trained by the BP neural network. At the same time, the prediction outliers were detected and corrected using motion constraint. To assess the performance of the proposed method, simulated and real data experiments were conducted with a vehicle on land and a boat offshore. A classical GNSS/INS integration algorithm, a motion-constrained GNSS/INS algorithm, and the proposed method were compared through data processing. Compared with the classical GNSS/INS integration algorithm and the motion-constrained GNSS/INS algorithm, the positioning accuracies of the proposed method were improved by 90% and 64%, respectively, in the vehicle land experiment. Similar performances were found in the offshore boat experiment. Using the proposed MC-BP method, improved meter-level-positioning results can be achieved with the GNSS/INS integration algorithm when GNSS outages occur.
Achieving efficient and accurate feature tracking on event cameras is a fundamental step for practical high-level applications, such as simultaneous localization and mapping (SLAM) and structure from motion (SfM) and visual odometry (VO) in GNSS (Global Navigation Satellite System)-denied environments. Although many asynchronous tracking methods purely using event flow have been proposed, they suffer from high computation demand and drift problems. In this paper, event information is still processed in the form of synthetic event frames to better adapt to the practical demands. Weighted fusion of multiple hypothesis testing with batch processing (WF-MHT-BP) is proposed based on loose integration of event, intensity, and inertial information. More specifically, with inertial information acting as priors, multiple hypothesis testing with batch processing (MHT-BP) produces coarse feature-tracking solutions on event frames in a batch processing way. With a time-related stochastic model, a weighted fusion mechanism fuses feature-tracking solutions from event and intensity frames compared with other state-of-the-art feature-tracking methods on event cameras. Evaluation on public datasets shows significant improvements on accuracy and efficiency and comparable performances in terms of feature-tracking length.
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