HEAD: smootH Estimation of wAlking Direction with a hand-held device embedding inertial, GNSS and magnetometer sensors
Autor: | Johan Perul, Valérie Renaudin |
---|---|
Přispěvatelé: | Géolocalisation (AME-GEOLOC), Université Gustave Eiffel |
Jazyk: | angličtina |
Rok vydání: | 2020 |
Předmět: |
Inertial frame of reference
010504 meteorology & atmospheric sciences Computer science Aerospace Engineering TIME DIFFERENCIED CARRIER PHASE [TDCP] Pedestrian ESTIME 01 natural sciences WALKING DIRECTION INERTIAL SENSORS PIETON [SPI]Engineering Sciences [physics] Gait (human) Position (vector) PEDESTRIAN DEAD RECKOGNING [PDR] Dead reckoning FILTRE DE KALMAN Computer vision CAPTEUR Electrical and Electronic Engineering 0105 earth and related environmental sciences CAPTEURS INERTIELS business.industry 010401 analytical chemistry DIFFERENCE TEMPORELLE DES MESURES DE PHASE GNSS Mode (statistics) Filter (signal processing) DIRECTION DE MARCHE 0104 chemical sciences GNSS applications NAVIGATION A L&apos GEOLOCALISATION ET NAVIGATION PAR UN SYSTEME DE SATELLITES - GNSS Artificial intelligence business KALMAN FILTER |
Zdroj: | Navigation Navigation, Institute of Navigation, 2020, 17p. ⟨10.1002/navi.389⟩ |
ISSN: | 0028-1522 |
DOI: | 10.1002/navi.389⟩ |
Popis: | 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 degrees in texting mode and 12 degrees in pocket mode. |
Databáze: | OpenAIRE |
Externí odkaz: |