Enhanced Heuristic Drift Elimination with Adaptive Zero-Velocity Detection and Heading Correction Algorithms for Pedestrian Navigation

Sensors

Ruihui Zhu¹  Yunjia Wang¹  Boyuan Wang²  Baoguo Yu²  Xingli Gan²  Haonan Jia² 

[1] Key Laboratory of Land Environment and Disaster Monitoring, MNR, China University of Mining and Technology, Xuzhou 221116, China;State Key Laboratory of Satellite Navigation System and Equipment Technology, 589 ZhongShan Street, Qiaoxi District, Shijiazhuang 050081, China;

关键词: pedestrian navigation;    adaptive zupt;    heuristic;    complex path;    heading correction;   

DOI  :  10.3390/s20040951

来源: DOAJ

【 摘 要 】

As pedestrian dead-reckoning (PDR), based on foot-mounted inertial sensors, suffers from accumulated error in velocity and heading, an improved heuristic drift elimination (iHDE) with a zero-velocity update (ZUPT) algorithm was proposed for simultaneously reducing the error in heading and velocity in complex paths, i.e., with pathways oriented at 45°, curved corridors, and wide areas. However, the iHDE algorithm does not consider the changes in pedestrian movement modes, and it can deteriorate when a pedestrian walks along a straight path without a pre-defined dominant direction. To solve these two problems, we propose enhanced heuristic drift elimination (eHDE) with an adaptive zero-velocity update (AZUPT) algorithm and novel heading correction algorithm. The relationships between the magnitude peaks of the y-axis angular rate and the detection thresholds were established only using the readings of the three-axis accelerometer and the three-axis gyroscopic, and a mechanism for constructing temporary dominant directions in real time was introduced. Real experiments were performed and the results showed that the proposed algorithm can improve the still-phase detection accuracy of a pedestrian at different movement motions and outperforms the iHDE algorithm in complex paths with many straight features.

【 授权许可】

Unknown