A Survey of Indoor Inertial Positioning Systems for Pedestrians
A Survey of Indoor Inertial Positioning Systems for Pedestrians
复制标题
DOI：
10.1109/surv.2012.121912.00075
复制
发表时间：
2013-01-01
影响因子：
35.6
通讯作者：
Harle, Robert
中科院分区：
文献类型：
--
作者：
Harle, Robert
随着传感器和处理节点的不断升级，行人航位推算（PDR）系统正在成为室内跟踪的可行选择。这些使用惯性和其他传感器，通常与特定领域的步行知识相结合，以跟踪用户的运动。目前有大量的相关文献分布在不同的研究社区。在这项调查中，现代PDR的分类法的开发和使用的contextualise从不同领域的贡献。本文综述并比较了步进检测、特征化、惯性导航和基于步进航向的航位推算技术。通过粒子滤波器将建筑物地图的技术进行了分析，沿着与混合系统，使用绝对位置固定，以纠正航位推算输出。此外，还考虑了使用智能手机作为PDR传感设备的可能性，调查结论是，在某些情况下，PDR技术本身可以提供良好的短期至中期跟踪，但需要合作伙伴系统定期进行绝对位置定位，以确保长期运行和科普意外行为。最后，它确定了PDR研究人员面临的挑战的详细清单。
With the continual miniaturisation of sensors and processing nodes, Pedestrian Dead Reckoning (PDR) systems are becoming feasible options for indoor tracking. These use inertial and other sensors, often combined with domain-specific knowledge about walking, to track user movements. There is currently a wealth of relevant literature spread across different research communities. In this survey, a taxonomy of modern PDRs is developed and used to contextualise the contributions from different areas. Techniques for step detection, characterisation, inertial navigation and step-and-heading-based dead-reckoning are reviewed and compared. Techniques that incorporate building maps through particle filters are analysed, along with hybrid systems that use absolute position fixes to correct dead-reckoning output. In addition, consideration is given to the possibility of using smartphones as PDR sensing devices.The survey concludes that PDR techniques alone can offer good short- to medium- term tracking under certain circumstances, but that regular absolute position fixes from partner systems will be needed to ensure long-term operation and to cope with unexpected behaviours. It concludes by identifying a detailed list of challenges for PDR researchers.