Abstract
This paper is concerned with the estimation of heading information of the Pedestrian Navigation System (PNS). The MEMS inertial sensors as well as a miniature GNSS receiver are used to establish a pedestrian navigation prototype based on the Pedestrian Dead Reckoning (PDR) approach. An Extended Kalman Filter (EKF) structure is used for the estimation of the system’s attitude error and the bias of the gyroscope. If there is no external acceleration, errors of pitch and roll as well as the biases of the two horizontal gyros are compensated using the aiding information from the accelerometer. When GNSS is available, its output is used for heading and heading-gyro bias estimation. Using the aiding information provided by both GNSS and accelerometer, the proposed method prevents the errors in the attitude from increasing rapidly. The proposed method for pedestrian navigation application has been well verified through real field experiments.
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Acknowledgments
The first author Haiyu Lan is sponsored by both Dr. Naser El-Sheimy and the China Scholarship Council (CSC) for his PhD program study at the University of Calgary, Calgary, Canada.
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Lan, H., Yu, C., El-Sheimy, N. (2015). An Integrated PDR/GNSS Pedestrian Navigation System. In: Sun, J., Liu, J., Fan, S., Lu, X. (eds) China Satellite Navigation Conference (CSNC) 2015 Proceedings: Volume III. Lecture Notes in Electrical Engineering, vol 342. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-46632-2_59
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DOI: https://doi.org/10.1007/978-3-662-46632-2_59
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