Aiding MEMS IMU with building heading for indoor pedestrian navigation

Abdulrahim, Khairi; Hide, Chris; Moore, Terry; Hill, Chris

doi:10.1109/upinlbs.2010.5653986

Cited by 70 publications

(37 citation statements)

References 8 publications

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“…An HDE-based PDR solution basically eliminates the error in heading, and consequently, it reduces the positioning error. For example in [1] a 0.33% error of the Total Traveled Distance (TTD) is obtained, and in [2] the reported error is just 0.1% of the TTD. Fig.…”

Section: A Hde Benefitsmentioning

confidence: 99%

“…It assumes that the majority of buildings have dominant directions defined by the orientation of their corridors; consequently a person walks most of the time along straight-line paths parallel to these dominant directions. Abdulrahim et al [2] exploit the same building's dominant directions assumption, but they implement the HDE idea in a totally different way. See Fig.…”

Section: Introductionmentioning

confidence: 99%

“…The implementation in [2] uses an inertial navigation or INS-based framework to directly integrate triads of accelerometer and gyroscopic signals. This INS mechanization is corrected by a complementary Kalman filter (see [3] and [4] for INSbased PDR implementation details).…”

Section: Introductionmentioning

confidence: 99%

“…These two works ( [1], [2]) exploit the concept of the dominant directions in a building but do not use magnetometers to give information about the absolute heading or yaw angle of the person while is walking. They state that this information is not reliable enough and avoid its use.…”

Section: Introductionmentioning

confidence: 99%

“…The section III analyzes the limits and potential benefits found in magnetic compassing; it is shown the chaotic behavior of short-term compassing but it is experimentally analyzed how this data can be used in a mid-or long-term to correct the absolute yaw angle. Based on the conclusions obtained in the last two sections, we present in section IV an improved HDE method, called MiHDE (Magnetically-aided Improved Heuristic Drift Elimination), that although similar somehow to the Abdulrahim et al implementation [2] includes a motion analysis block to detect straight-line paths and an adaptive on-line confidence estimator for the heading corrections. This method also includes a procedure to improve the gyro bias updates, and also a method to select the correct dominant direction of the building that takes into account the the mid-term yaw errors obtained from the magnetometers.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Improved heuristic drift elimination with magnetically-aided dominant directions (MiHDE) for pedestrian navigation in complex buildings

Jiménez

Seco

Zampella

et al. 2012

Journal of Location Based Services

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Abstract-The main problem of Pedestrian Dead-Reckoning (PDR) using only a body-attached IMU is the accumulation of heading errors. The heading provided by magnetometers in indoor buildings is in general not reliable and therefore it is commonly not used. Recently, a new method was proposed called Heuristic Drift Elimination (HDE) that minimizes the heading error when navigating in buildings. It assumes that the majority of buildings have their corridors parallel to each other, or they intersect at right angles, and consequently most of the time the person walks along a straight path with a heading constrained to one of four possible directions. In this paper we study the performance of HDE-based methods in complex buildings, i.e. with pathways also oriented at 45°, long curved corridors, and wide areas where non-oriented motion is possible. We explain how the performance of the original HDE method can be deteriorated in complex buildings, and also, how severe errors can appear in case of false matches with the building's dominant directions. Although magnetic compassing indoors has a chaotic behavior, in this paper we analyze large data-sets in order to study the potential use that magnetic compassing has to estimate the absolute yaw angle of a walking person. Apart from these analysis, this paper also proposes an improved HDE method called MiHDE (Magnetically-aided Improved Heuristic Drift Elimination), that is implemented over a PDR framework that uses foot-mounted inertial navigation with an Extended Kalman Filter (EKF). The EKF is fed with the MiHDE-estimated orientation error, gyro bias corrections, as well as the confidence over that corrections. We experimentally evaluated the performance of the proposed MiHDE-based PDR method, comparing it with the original HDE implementation. Results show that both methods perform very well in ideal orthogonal narrow-corridor buildings, and MiHDE outperforms HDE for non-ideal trajectories (e.g. curved paths) and also makes it robust against potential false dominant direction matchings.

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Section: A Hde Benefitsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Improved heuristic drift elimination with magnetically-aided dominant directions (MiHDE) for pedestrian navigation in complex buildings

Jiménez

Seco

Zampella

et al. 2012

Journal of Location Based Services

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Evaluation of Inertial Sensor Configurations for Wearable Gait Analysis

Zhao

Wang

Qiu

et al. 2019

Studies in Computational Intelligence

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Design and Implementation of MARG Sensors Based Positioning Method Using a Mobile Phone

Tian

Qian

Zhou

2015

Lecture Notes in Electrical Engineering

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Due to the problems of high cost and complication in indoor positioning, a new kind of positioning method by using a mobile phone based on magnetic, angular, rate, and gravity (MARG) sensors is more favored in recent years. This method estimates the orientation of pedestrian by quaternion. The quaternion-based extended Kalman filter (EKF) used for data fusion and orientation correction reduces the error of linear acceleration and avoids magnetic-field interference. We conduct pedestrian gait detection and step length estimation by using an accelerometer and verify the positioning performance of this method in an mobile phone. Testing results indicate that the positioning accuracy can reach 30 ‰ and 20 ‰ in the complex magnetic-field and non-magnetic interference environments respectively.

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Aiding MEMS IMU with building heading for indoor pedestrian navigation

Cited by 70 publications

References 8 publications

Improved heuristic drift elimination with magnetically-aided dominant directions (MiHDE) for pedestrian navigation in complex buildings

Improved heuristic drift elimination with magnetically-aided dominant directions (MiHDE) for pedestrian navigation in complex buildings

Evaluation of Inertial Sensor Configurations for Wearable Gait Analysis

Design and Implementation of MARG Sensors Based Positioning Method Using a Mobile Phone

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