Adaptive Cardinal Heading Aided for Low Cost Foot-Mounted Inertial Pedestrian Navigation

The use of a low-cost MEMS-based Inertial Measurement Unit (IMU) provides a cost-effective approach for navigation purposes. Foot-mounted IMU is a popular option for indoor inertial pedestrian navigation, as a small and light MEMS-based inertial sensor can be tied to a pedestrian's foot or shoe. Without relying on GNSS or other external sensors to enhance navigation, the foot-mounted pedestrian navigation system can autonomously navigate, relying solely on the IMU. This is typically performed with the standard strapdown navigation algorithm in a Kalman filter, where Zero Velocity Updates (ZVU) are used together to restrict the error growth of the low-cost inertial sensors. ZVU is applied every time the user takes a step since there exists a zero velocity condition during stance phase. While velocity and correlated attitude errors can be estimated correctly using ZVUs, heading error is not because it is unobservable. In this paper, we extend our previous work to correct the heading error by aiding it using Multiple Polygon Areas (MPA) with adaptive weighting factor. We termed the approach as Adaptive Cardinal Heading Aided Inertial Navigation (A-CHAIN). We formulated an adaptive weighting factor applied to measurement noise to enhance measurement confidence. We then incorporated MPA heading into the algorithm, whereas multiple buildings with the same orientation are grouped together and assigned a specific heading information as a priori. Results shown that against the original CHAIN, the proposed Adaptive-CHAIN improved the position accuracy by more than five-fold

Pseudo-Zero Velocity Re-Detection Double Threshold Zero-Velocity Update Method for Inertial Sensor-Based Pedestrian

Zero-velocity update method is widely used in inertial measurement unit based pedestrian navigation systems for mitigating sensor drifting error. In the basic pedestrian dead reckoning system, especially in a foot-tie PDR system, zero-velocity update method and a Kalman filter are two core algorithms. In the basic PDR system, ZUPT usually uses a single threshold to judge the gait of pedestrians. A single threshold, however, makes ZUPT unable to accurately judge the gait of pedestrians in different road conditions. In this thesis paper, we propose a new, redesigned zero-velocity update method without using additional equipment and filter algorithms to further improve the accuracy of the correction results. The method uses a sliding detection algorithm to help re-detect the zero-velocity intervals, aiming to remove the pseudo-zero velocity interval and the pseudo-motion interval, as well as improving the performance of the ZUPT method. The method was implemented in a shoe-mounted IMU-based navigation system. For 3-6 km/h walking speed step detection tests, the accuracy of the proposed ZUPT method has an average 23.7% higher than the conventional methods. In a long-distance walking path tracking test, the mean error of the estimated path for our method is 0.61 m, which is an 81.69% reduction compared to the conventional ZUPT methods. The details of the improved ZUPT method presented in this paper not only enables the tracking technology to better track a pedestrian\u27s step changes during walking, but also provides better calculation conditions for subsequent filter operations