Abstract
A Pedestrian Integrated Navigation System (PINS) is presented in this paper. PINS includes micro Inertial Measurement Units (IMU), Global Positioning System (GPS) module, magnetometer and barometric altimeter. It is mounted on pedestrian’s waist. When a pedestrian walks, his position, velocity and altitude can be obtained by PINS. The pedestrian gait big or small is detected automatically. According to the information of IMU, GPS, magnetometer and barometric altimeter, Extended Kalman Filter (EKF) is provided. Indoor and outdoor test results show that when the GPS signal is present, the azimuth error is better than 0.5 degrees, the position error is better than 5 meters, and when the GPS signal is absent, the azimuth error is better than 1 degree, the position error is better than 3 percents of the total route, the height error is better than 1 meter and the interior floor can be identified clearly.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Seong Yun Cho and Chan Gook Park, MEMS based pedestrian navigation system, The Journal of Navigation, 2006, no. 59, pp. 135–153.
Calusdian, J., A personal navigation system based on inertial and magnetic field measurements, Naval Postgraduate School, Monterey California, USA, 2010.
Bird, J. and Arden, D., Indoor navigation with footmounted strapdown inertial navigation and magnetic sensors, IEEE Wireless Communication, 2011, no. 18, pp. 28–35.
Ojeda, L. and Borenstein, J., Personal dead-reckoning system for GPS-denied environments, Proceedings of the 2007 IEEE International Workshop on Safety, Security and Rescue Robotics Rome, Italy, September 2007.
Qian, W.-X., Zhu, X.-H., and Su, Y., Personal navigation method based on foot-mounted MEMS inertial/magnetic measurement unit, Journal of Chinese Inertial Technology, 2012, no. 5.
Bebek, O., Suster, M., Rajgopal, S., and Fu, M., Personal navigation via shoe mounted inertial measurement units, International Conference on Intelligent Robots and Systems, October 2010, pp. 1052–1058.
Bolotin, Yu. V. and Fatehrad, M., Pedestrian inertial navigation with foot zero velocity update, 22nd St. Petersburg International Conference on Integrated Navigation Systems, St. Petersburg: Elektropribor, 2015, pp. 68–72.
Voloshin, D., Rybokonenko, D., and Karbovskii, V., Towards a performance-realism compromise in the development of the pedestrian navigation model, ICCS 2015, International Conference on Computational Science, 2015, pp. 2799-2803.
Panyov, A. A., Smirnov, A.S., and Kosyanchuk, V.V., Indoor navigation using foot-mounted IMU aided with heterogeneous additional information, 22nd St. Petersburg International Conference on Integrated Navigation Systems, St. Petersburg: Elektropribor, 2015, pp. 73–80.
Zhou, W.-J., A method of automatically computing magnetic declination via the geomagnetic declination map, Engineering of Surveying and Mapping, 2007, vol. 16, no. 1, pp. 51–54.
Chen, J.-W., Study on direct ellipse fitting algorithm, Geotechnical Investigation & Surveying, 2007, no. 6, pp. 49–51.
Chen, C. and Xing, D., Research of acceleration sensor signal processing based on MATLAB, Microcontroller & Embedded Systems, 2006, no. 9, pp. 16–19.
Liu, Ch., Yang, H., and Song, J., Research on adaptive pedometer detection algorithm, Piezoelectrics &Acoustooptics, 2015.
Author information
Authors and Affiliations
Corresponding author
Additional information
Published in Giroskopiya i Navigatsiya, 2015, No. 4, pp. 29–41.
Rights and permissions
About this article
Cite this article
Liu, Y., Cai, T., Yang, H. et al. The Pedestrian Integrated Navigation System with micro IMU/GPS/magnetometer/barometric altimeter. Gyroscopy Navig. 7, 29–38 (2016). https://doi.org/10.1134/S2075108716010089
Received:
Published:
Issue Date:
DOI: https://doi.org/10.1134/S2075108716010089