A Novel Kalman Filter with State Constraint Approach for the Integration of Multiple Pedestrian Navigation Systems

Micromachines

Haiyu Lan²  Chunyang Yu²  Yuan Zhuang²  You Li²  Naser El-Sheimy²  Aboelmagd Noureldin¹ 

[1] Mobile Multi-Sensor Systems (MMSS) Research Group, Department of Geomatics Engineering, University of Calgary, 2500 University Drive NW, Calgary, AB T2N 1N4, Canada;;Mobile Multi-Sensor Systems (MMSS) Research Group, Department of Geomatics Engineering, University of Calgary, 2500 University Drive NW, Calgary, AB T2N 1N4, Canada; E-Mails:

关键词: pedestrian navigation system (PNS);    state constraint;    Kalman filter;    inertial navigation system (INS);    pedestrian dead reckoning (PDR);   

DOI  :  10.3390/mi6070926

来源: mdpi

【 摘 要 】

Numerous solutions/methods to solve the existing problems of pedestrian navigation/localization have been proposed in the last decade by both industrial and academic researchers. However, to date there are still major challenges for a single pedestrian navigation system (PNS) to operate continuously, robustly, and seamlessly in all indoor and outdoor environments. In this paper, a novel method for pedestrian navigation approach to fuse the information from two separate PNSs is proposed. When both systems are used at the same time by a specific user, a nonlinear inequality constraint between the two systems’ navigation estimates always exists. Through exploring this constraint information, a novel filtering technique named Kalman filter with state constraint is used to diminish the positioning errors of both systems. The proposed method was tested by fusing the navigation information from two different PNSs, one is the foot-mounted inertial navigation system (INS) mechanization-based system, the other PNS is a navigation device that is mounted on the user’s upper body, and adopting the pedestrian dead reckoning (PDR) mechanization for navigation update. Monte Carlo simulations and real field experiments show that the proposed method for the integration of multiple PNSs could improve each PNS’ navigation performance.

【 授权许可】

CC BY   
© 2015 by the authors; licensee MDPI, Basel, Switzerland.