Relative Heading Estimation for Pedestrians Based on the Gravity Vector
| Autor: | Kjetil Bergh Anonsen, Vincent Thio, J. K. Bekkeng |
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| Rok vydání: | 2021 |
| Předmět: |
Heading (navigation)
business.industry Computer science 010401 analytical chemistry Smart device Initialization 01 natural sciences Motion capture 0104 chemical sciences law.invention Acceleration Inertial measurement unit law Computer vision Artificial intelligence Electrical and Electronic Engineering business Instrumentation Inertial navigation system |
| Zdroj: | IEEE Sensors Journal. 21:8218-8225 |
| ISSN: | 2379-9153 1530-437X |
| DOI: | 10.1109/jsen.2021.3052430 |
| Popis: | Inertial navigation of pedestrians carrying a smart device is a core component of many indoor positioning systems. While infrastructure-based solutions typically depend on an installation of dedicated hardware, inertial navigation depends only on sensors embedded in the device itself. A single solution can thus be applied to a large range of use cases. This work focuses on one of the main challenges in inertial navigation: user heading estimation. We describe a complete statistical model for heading estimation based on the IMU and magnetometer, assuming a fixed device pose on the pedestrian. Our aim is to provide a stand-alone solution, suitable for direct implementation into a larger positioning framework. The method consists of two consecutive parts. The first focuses on gravity vector estimation based on IMU data. We describe a method for obtaining independent estimates under dynamic conditions, thereby removing the quasi-static initialization phase required by conventional methods. The second part combines the gravity vector with gyro and magnetic measurements to estimate user heading. The proposed method is tested against a motion capture system, and against an alternative method based on attitude. We find that both methods produce similar results in terms of accuracy. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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