Belt mounted IMU with enhanced distance estimation for pedestrian indoor positioning

Abstract

Ahstract-The approach described here attempts to overcome foot-mounted limitations, contrary to a majority of current implementations of inertial navigation systems (INS). The aim of our development is to maintain repeatable performance, especially without step counting, while carefully dealing with the mobility requirements and the computation cost. The inertial measurement unit (IMU) is belt mounted to facilitate the equip ment of the user. The pedestrian trajectory is computed in real time. The resulting position is transmitted and displayed to the user on a smartphone where no specific application is installed. The description of our indoor experiments reveals the potential of this approach, in terms of positioning performance, with more than 75% of our experiments when the relative start-end error remains below 5% of the total traveled distance.

Real-time PDR based on resource-constrained embedded platform

“…Distinctively, the third row denotes differences in time for both phases. The stationary phase took a longer time to complete because the number of samples to be processed in Equation (3)(4)(5)(6)(7)(8)(9)(10)(11)(12)(13) equals to the window size, 40. This is a result of Equation (3) where all the acceleration samples at stationary phase are within the tolerance.…”

“…The placement is said to be more userfriendly and practical compared to foot-mounted. The approach is more recent than foot-mounted and Patarot et al [12] have presented their belt-mounted solution that is almost comparable to the foot-mounted performance.…”

“…Data is logged throughout the experiments and the results are computed afterwards on a larger computer. Besides, only a few of solutions work in real-time and require connection to and use of a laptop computer or a smartphone to compute the final position of the pedestrian [6], [12], [13].…”