Improved Heuristic Drift Elimination (iHDE) for pedestrian navigation in complex buildings

Jiménez, Antonio R.; Seco, Fernando; Zampella, Francisco; Prieto, José Carlos Sánchez; Guevara, J.

doi:10.1109/ipin.2011.6071923

Cited by 58 publications

(30 citation statements)

References 5 publications

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“…Additionally, it is also an extension over a previous work presented by the authors of this paper (Jime´nez et al) [11]; this former method was called iHDE and did not used the magnetometer information to help in the selection of the correct dominant direction. Next subsections will detail the different approaches included in MiHDE method, some of which are similar to the previous iHDE proposal.…”

Section: The Proposed Mihde Methodsmentioning

confidence: 96%

“…This Yaw angle is computed from the magnetometer (Yawmag) as in [4]. Also, we have a reference Yaw angle or ground truth (Yaw ), which is real deduced automatically from our PDR algorithms with the HDE heuristic enabled in order to keep the trajectory well aligned with respect to the dominant principal directions of the building [11]. Note that the yaw of the sensor's X-axis will not be necessarily aligned with the closest dominant directions of the building since it depends on how the IMU was installed on the foot and the typical orientation of the foot with respect to the direction of movement (this discrepancy is about 20 degrees in our experiments and has no effect on the conclusions obtained next).…”

Section: B Benefits: Finding Useful Information In Magnetic Ya Wmentioning

confidence: 99%

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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: The Proposed Mihde Methodsmentioning

confidence: 96%

Section: B Benefits: Finding Useful Information In Magnetic Ya Wmentioning

confidence: 99%

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

Self Cite

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“…Various solutions to mitigate such errors have been proposed, relying on the magnetic field [1], [2], and/or using assumptions about the shape of the building [3], [4], [5], [6]. A well-known issue is the high magnitude of magnetic disturbances in indoor environment, which is a big argument for ignoring it entirely as a source of heading information.…”

Section: Introductionmentioning

confidence: 99%

Improving magneto-inertial attitude and position estimation by means of a magnetic heading observer

Chesneau

Hillion

Hullo

et al. 2017

2017 International Conference on Indoor Positioning and Indoor Navigation (IPIN)

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Abstract-This paper studies heading estimation jointly with the attitude and position estimation of a rigid body equipped with inertial and magnetic sensors in indoor environment. In contrast with other indoor dead-reckoning approaches, no assumption is made about the nature of the movement or environment layout. Based on a previous paper, an Extended Kalman Filter is designed, which includes inertial sensor biases and magnetic disturbances. A heuristic model of the dynamic of magnetic heading disturbances is then described and added to the observer. The latter is then evaluated in terms of position and heading error on experimental data, showing that in spite of high levels of disturbances, the magnetic field alone can be used to compute heading.

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“…Further advances have been developed in [1], [3]- [5]. In particular, in [1] and [3] an extended Kalman filter (EKF) processing IMU measurements exploits various heuristics to compensate for the drift due to time-variant biases and measurement noise. In [4] and [5], instead, additional measurements (from RFID devices) are adopted to mitigate the drift phenomenon.…”

Section: Introductionmentioning

confidence: 99%

Design and implementation of an inertial navigation system for pedestrians based on a low-cost MEMS IMU

Montorsi

Pancaldi

Vitetta

2013

2013 IEEE International Conference on Communications Workshops (ICC)

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Abstract-Inertial navigation systems for pedestrians are infrastructure-less and can achieve sub-meter accuracy in the short/medium period. However, when low-cost inertial measurement units (IMU) are employed for their implementation, they suffer from a slowly growing drift between the true pedestrian position and the corresponding estimated position. In this paper we illustrate a novel solution to mitigate such a drift by: a) using only accelerometer and gyroscope measurements (no magnetometers required); b) including the sensor error model parameters in the state vector of an extended Kalman filter; c) adopting a novel soft heuristic for foot stance detection and for zero-velocity updates. Experimental results evidence that our inertial-only navigation system can achieve similar or better performance with respect to pedestrian dead-reckoning systems presented in related studies, although the adopted IMU is less accurate than more expensive counterparts.

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Improved Heuristic Drift Elimination (iHDE) for pedestrian navigation in complex buildings

Cited by 58 publications

References 5 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

Improving magneto-inertial attitude and position estimation by means of a magnetic heading observer

Design and implementation of an inertial navigation system for pedestrians based on a low-cost MEMS IMU

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