PDR/INS/WiFi Integration Based on Handheld Devices for Indoor Pedestrian Navigation

Micromachines

Yuan Zhuang¹  Haiyu Lan¹  You Li¹  Naser El-Sheimy¹ 

[1] Department of Geomatics Engineering, University of Calgary, Calgary, AB T2N 1N4, Canada; E-Mails:

关键词: PDR/INS/WiFi integration;    PDR/INS integration;    pseudo-velocity update;    indoor pedestrian navigation;    smartphone;    motion constraints;   

DOI  :  10.3390/mi6060793

来源: mdpi

【 摘 要 】

Providing an accurate and practical navigation solution anywhere with portable devices, such as smartphones, is still a challenge, especially in environments where global navigation satellite systems (GNSS) signals are not available or are degraded. This paper proposes a new algorithm that integrates inertial navigation system (INS) and pedestrian dead reckoning (PDR) to combine the advantages of both mechanizations for micro-electro-mechanical systems (MEMS) sensors in pedestrian navigation applications. In this PDR/INS integration algorithm, a pseudo-velocity-vector, which is composed of the PDR-derived forward speed and zero lateral and vertical speeds from non-holonomic constraints (NHC), works as an update for the INS to limit the velocity errors. To further limit the drift of MEMS inertial sensors, trilateration-based WiFi positions with small variances are also selected as updates for the PDR/INS integrated system. The experiments illustrate that positioning error is decreased by 60%–75% by using the proposed PDR/INS integrated MEMS solution when compared with PDR. The positioning error is further decreased by 15%–55% if the proposed PDR/INS/WiFi integrated solution is implemented. The average accuracy of the proposed PDR/INS/WiFi integration algorithm achieves 4.5 m in indoor environments.

【 授权许可】

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