An Autonomous Navigation Method for Indoor Pedestrian based on Dual MIMU and Dual-foot Distance Measurement
Pages 38 - 43
Abstract
An autonomous navigation method for indoor pedestrian based on dual MIMU and dual-foot distance measurement, fixes two MIMUs and dual-foot distance measuring modules on the two feet of a pedestrian. The two systems respectively perform the strapdown inertial calculation and zero velocity update based on Kalman filter. Then it is available to fuse the distance data of two feet measured by ultrasonic transceiver and constrain the navigation results of the two MIMUs by using state-constrained Kalman filter algorithm. Therefore, the fuzzy physiological characteristics of the human body are transformed into strict mathematical problems, so as to obtain more optimized navigation results, and achieve more accurate indoor pedestrian navigation and positioning function. The experimental results show that by using this method, the performance of this indoor pedestrian navigation system is more stable, the overall heading deviation is obviously corrected, the average position error is effectively controlled, and the navigation positioning accuracy is more than 35% higher than that of single MIMU navigation system.
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Index Terms
- An Autonomous Navigation Method for Indoor Pedestrian based on Dual MIMU and Dual-foot Distance Measurement
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Published In
December 2019
99 pages
ISBN:9781450372640
DOI:10.1145/3377458
Copyright © 2019 ACM.
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- Wuhan Univ.: Wuhan University, China
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Association for Computing Machinery
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Published: 07 March 2020
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ICSCC 2019
ICSCC 2019: 2019 5th International Conference on Systems, Control and Communications
December 21 - 23, 2019
Wuhan, China
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