Fusion of Attitude and Statistical Walking Direction Estimations with Time-Difference Carrier Phase Velocity Update for Pedestrian Dead Reckoning Method

Perul, Johan; Renaudin, Valérie

doi:10.33012/2019.17035

Cited by 1 publication

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“…The addition of the velocity in the state vector also allows TDCP (Time Differencied Carrier Phase) measurements to be used to correct the orientation. This article is an extended version of recent work from the authors (Perul & Renaudin, 2019). It comprises the detailed presentation of the filter design and the equations.…”

Section: Introductionmentioning

confidence: 99%

HEAD: smootH Estimation of wAlking Direction with a handheld device embedding inertial, GNSS, and magnetometer sensors

Perul¹,

Renaudin²

2020

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Pedestrian navigation with handheld sensors is still particularly complex. Pedestrian Dead Reckoning method is generally used, but the estimation of the walking direction remains problematic because the device's pointing direction does not always correspond to the walking direction. To overcome this difficulty, it is possible to use gait modeling based approaches. But, these methods suffer from sporadic erroneous estimates and their accumulation over time. The HEAD (smootH Estimation of wAlking Direction) filter uses WAISS and MAGYQ angular estimates as observations to correct the walking direction and to obtain more robust and smooth results. TDCP updates are applied to constrain the walking direction estimation error while pseudo‐ranges directly update the position. HEAD is tested by 5 subjects over 21 indoor/outdoor acquisitions (between 720 m and 1.3 km). A 54% improvement is achieved thanks to the fusion in texting mode. The median obtained angular error is 5.5∘ in texting mode and 12∘ in pocket mode.

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Section: Introductionmentioning

confidence: 99%