Abstract:In this paper, we present a method for finding the enhanced heading and position of pedestrians by fusing the Zero velocity UPdaTe (ZUPT)-based pedestrian dead reckoning (PDR) and the kinematic constraints of the lower human body. ZUPT is a well known algorithm for PDR, and provides a sufficiently accurate position solution for short term periods, but it cannot guarantee a stable and reliable heading because it suffers from magnetic disturbance in determining heading angles, which degrades the overall position accuracy as time passes. The basic idea of the proposed algorithm is integrating the left and right foot positions obtained by ZUPTs with the heading and position information from an IMU mounted on the waist. To integrate this information, a kinematic model of the lower human body, which is calculated by using orientation sensors mounted on both thighs and calves, is adopted. We note that the position of the left and right feet cannot be apart because of the kinematic constraints of the body, so the kinematic model generates new measurements for the waist position. The Extended Kalman Filter (EKF) on the waist data that estimates and corrects error states uses these measurements and magnetic heading measurements, which enhances the heading accuracy. The updated position information is fed into the foot mounted sensors, and reupdate processes are performed to correct the position error of each foot. The proposed update-reupdate technique consequently ensures improved observability of error states and position accuracy. Moreover, the proposed method provides all the information about the lower human body, so that it can be applied more effectively to motion tracking. The effectiveness of the proposed algorithm is verified via experimental results, which show that a 1.25% Return Position Error (RPE) with respect to walking distance is achieved.Keywords: indoor positioning; pedestrian dead reckoning; wearable sensors; extended Kalman filter; motion tracking
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Some other works avoid the use of cameras in order to keep privacy. The method presented in [31] uses LRF only and cannot identify specific persons. The tracking system in [32] is based on dead reckoning using an inertial sensor, but the accuracy decreases over time. The work in [33] uses passive RFID tags, but sometimes fails to track persons far from the tag reader. An ultrasonic tagging system [6] has a high cost, both in maintenance and space, since many large directional antennas are required for tracking the tags. The use of received signal strength indication (RSSI) of active RFID tags [34] and WiFi signals [35] is not accurate enough for localizing persons in a room.
In the early days of air navigation, dead reckoning procedures were inevitably closely allied to those practised at sea, but the rapid development of aviation has considerably reduced these early similarities. To talk generally of D.R. practices is therefore no longer feasible. It is the purpose of this article to outline some of the air procedures and instruments in use, and to give an indication of the reason that lay behind their adoption. 2ff7e9595c
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