Synergism of INS and PDR in Self-Contained Pedestrian Tracking With a Miniature Sensor Module
Synergism of INS and PDR in Self-Contained Pedestrian Tracking With a Miniature Sensor Module
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DOI：
10.1109/jsen.2010.2044238
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发表时间：
2010-08-01
影响因子：
4.3
通讯作者：
Zhao, Lian
中科院分区：
文献类型：
--
作者：
Huang, Chengliang;Liao, Zaiyi;Zhao, Lian
本文提出了一种基于传感器的行人跟踪技术，不依赖于任何基础设施。通过由加速度计、陀螺仪和磁力计组成的传感器模块监测人体行走的信息。本文提出的算法使用所获得的信息来准确地计算行人的位置。该算法结合了捷联惯性导航和行人航位推算两种传统技术，利用人体动力学原理，实现了对行人的导航定位。在此基础上，提出了几种减小积分漂移的方法来提高行人跟踪的精度，积分漂移是惯性导航误差的主要来源。通过理论研究、模拟计算和现场试验，对这些方法进行了深入的研究。结果表明，通过应用所提出的算法和方法，可以实现精确的跟踪。显然，使用惯性/磁性传感器开发独立的行人跟踪系统是可行的，从而消除了大多数现有跟踪系统所依赖的复杂且通常昂贵的基础设施的需要。
This paper presents a sensor-based pedestrian tracking technology that does not rely on any infrastructure. The information about human walking is monitored by a sensor module composed of accelerometers, gyroscopes and magnetometers. The acquired information is used by an algorithm proposed in this paper to accurately compute the position of a pedestrian. Through the application of human kinetics, the algorithm integrates two traditional technologies: strap-down inertial navigation and pedestrian dead-reckoning. Based on the algorithm, this paper presents several methods to improve the accuracy of pedestrian tracking through reducing the integral drift which is the main cause of errors in inertial navigation. These methods have been carefully investigated through theoretical study, simulation and field experiment. The results indicate accurate tracking is achievable through the application of both the proposed algorithm and methods. Evidently, it is feasible to develop self-contained pedestrian tracking system using inertial/magnetic sensors, eliminating the need for complicated and normally expensive infrastructure that most existing tracking systems rely on.