Foot-mounted pedestrian navigation reference with tightly coupled GNSS carrier phases, inertial and magnetic data

Scornec, Julien Le; Ortiz, Miguel; Renaudin, Valérie

doi:10.1109/ipin.2017.8115882

Cited by 34 publications

(24 citation statements)

References 12 publications

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“…EXPERIMENTATIONS A. Experimental setup 1) Equipment: Two ULISS devices [30] and two PERSY systems [31] designed by IFSTTAR-GEOLOC Laboratory are used for data collection. Each ULISS device contains a nine-DOF inertial and magnetic unit, a high sensitivity GNSS receiver, a battery, and a memory card.…”

Section: E Optimization Processmentioning

confidence: 99%

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A Simulation-Based Approach to Generate Walking Gait Accelerations for Pedestrian Navigation Solutions

Abid¹,

Renaudin²,

Robert

et al. 2018

2018 International Conference on Indoor Positioning and Indoor Navigation (IPIN)

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In indoor environments, pedestrian dead reckoning (PDR) is the most used strategy for pedestrian position estimation from inertial data collected with handheld devices. PDR process recursively estimates positions using step length estimation based on parametric models that take into consideration some physiological parameters, displacement features and acceleration statistical properties. The coefficients of these models need frequent adjustment to limit cumulative errors induced by alteration of gait pattern. A large experimental database providing information about human locomotion variability is required for this calibration. However, the development of such database is costly in terms of time and effort. To make the collected data as reliable as possible, several gait-affecting factors should be considered, which highly increases the number of measurement trials. In this paper, we propose an alternative way of generating locomotion data that consists in simulating human walking gait motion under different conditions. We propose a multibody system simulator taking into account possible steplevel asymmetry induced by handling a device in hand, as well as the correlation between arms and legs motions during gait. Our simulation approach was evaluated with data from overground walking experiments on one test subject. Preliminary results show some similarities between acceleration profiles related to different body parts, and the same variation trends of selected acceleration items in function of carrying mode and gait velocity.

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Section: E Optimization Processmentioning

confidence: 99%

“…a base station located in the test site, based on data collected with each PERSY. Novel data fusion algorithms are used to obtain trajectories with drift errors less than 0.5%, based on results found in [31]. These trajectories allow to obtain footprints coordinates corresponding to step instants.…”

Section: Experimental Extraction Of Selected Gait Featuresmentioning

confidence: 99%

A Simulation-Based Approach to Generate Walking Gait Accelerations for Pedestrian Navigation Solutions

Abid¹,

Renaudin²,

Robert

et al. 2018

2018 International Conference on Indoor Positioning and Indoor Navigation (IPIN)

Self Cite

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“… drift compensation based on sensor fusion. In this category, inertial localization systems incorporate information from other sensors, for example, global navigation satellite system (GNSS) measurements [ 13 , 14 , 15 ] or WiFi measurements [ 10 , 16 ] to correct the position solution of the inertial localization system. …”

Section: Introductionmentioning

confidence: 99%

Novel Multi-IMU Tight Coupling Pedestrian Localization Exploiting Biomechanical Motion Constraints

Ahmed

Diaz

Domínguez

2020

Sensors

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In this article, we present a novel tight coupling inertial localization system which simultaneously processes the measurements of two inertial measurement units (IMUs) mounted on the leg, namely the upper thigh and the front part of the foot. Moreover, the proposed system exploits motion constraints of each leg link; that is, the thigh and the foot. To derive these constraints, we carry out a motion tracking experiment to collect both ground truth data and inertial measurements from IMUs mounted on the leg. The performance of the tight coupling system is assessed with a data set of approximately 10 h. The evaluation shows that the average 2D-position error of the proposed tight coupling system is at least 50% better than the average 2D-position error of two state-of-the-art systems, whereas the average height error of the tight coupling system is at least 75% better than the average height error of the two state-of-the-art systems. In this work, we improve the accuracy of the position estimation by introducing biomechanical constraints in an inertial localization system. This article allows to observe, for the first time, heading errors of an inertial localization system by using only inertial measurements and without the need for using maps or repeating totally or partially the walked trajectory.

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“…In general, each base indoor positioning technology has a well-defined domain of applications: Wi-Fi fingerprinting is usually applied in smartphone applications, whereas UWB is more suitable for complex applications where higher accuracy is required. Hybrid systems which combine several technologies in a single system for enhanced location accuracy or robustness also exist ([ 11 , 34 , 35 , 36 ]).…”

Section: Introductionmentioning

confidence: 99%

Off-Line Evaluation of Mobile-Centric Indoor Positioning Systems: The Experiences from the 2017 IPIN Competition

Torres-Sospedra

Jiménez

Moreira

et al. 2018

Sensors

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The development of indoor positioning solutions using smartphones is a growing activity with an enormous potential for everyday life and professional applications. The research activities on this topic concentrate on the development of new positioning solutions that are tested in specific environments under their own evaluation metrics. To explore the real positioning quality of smartphone-based solutions and their capabilities for seamlessly adapting to different scenarios, it is needed to find fair evaluation frameworks. The design of competitions using extensive pre-recorded datasets is a valid way to generate open data for comparing the different solutions created by research teams. In this paper, we discuss the details of the 2017 IPIN indoor localization competition, the different datasets created, the teams participating in the event, and the results they obtained. We compare these results with other competition-based approaches (Microsoft and Perf-loc) and on-line evaluation web sites. The lessons learned by organising these competitions and the benefits for the community are addressed along the paper. Our analysis paves the way for future developments on the standardization of evaluations and for creating a widely-adopted benchmark strategy for researchers and companies in the field.

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Foot-mounted pedestrian navigation reference with tightly coupled GNSS carrier phases, inertial and magnetic data

Cited by 34 publications

References 12 publications

A Simulation-Based Approach to Generate Walking Gait Accelerations for Pedestrian Navigation Solutions

A Simulation-Based Approach to Generate Walking Gait Accelerations for Pedestrian Navigation Solutions

Novel Multi-IMU Tight Coupling Pedestrian Localization Exploiting Biomechanical Motion Constraints

Off-Line Evaluation of Mobile-Centric Indoor Positioning Systems: The Experiences from the 2017 IPIN Competition

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