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Landmark-Based Drift Compensation Algorithm for Inertial Pedestrian Navigation

Munoz Diaz, Estefania and Caamano, Maria and Fuentes Sanchez, Francisco Javier (2017) Landmark-Based Drift Compensation Algorithm for Inertial Pedestrian Navigation. Sensors. Multidisciplinary Digital Publishing Institute (MDPI). doi: 10.3390/s17071555. ISSN 1424-8220.

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Official URL: http://www.mdpi.com/1424-8220/17/7/1555


The navigation of pedestrians based on inertial sensors, i.e. accelerometers and gyroscopes, has experienced a great growth over the last years. However, the noise of medium and low-cost sensors causes a high error in the orientation estimation, particularly in the yaw angle. This error, called drift, is due to the bias of the z-axis gyroscope and other slow changing errors, such as temperature variations. We propose a seamless landmark-based drift compensation algorithm that only uses inertial measurements. The proposed algorithm adds a great value to the state of the art, because the vast majority of the drift elimination algorithms apply corrections to the estimated position, but not to the yaw angle estimation. Instead, the presented algorithm computes the drift value and uses it to prevent yaw errors and therefore position errors. In order to achieve this goal, a detector of landmarks, i.e. corners and stairs, and an association algorithm have been developed. The results of the experiments show that it is possible to reliably detect corners and stairs using only inertial measurements eliminating the need that the user takes any action, e.g. pressing a button. Associations between re visited landmarks are successfully made taking into account the uncertainty of the position. After that, the drift is computed out of all associations and used during a post-processing stage to obtain a low-drifted yaw angle estimation, that leads to successfully drift compensated trajectories. The proposed algorithm has been tested with quasi-error-free turn rate measurements introducing known biases and with medium-cost gyroscopes in 3D indoor and outdoor scenarios.

Item URL in elib:https://elib.dlr.de/112966/
Document Type:Article
Title:Landmark-Based Drift Compensation Algorithm for Inertial Pedestrian Navigation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Fuentes Sanchez, Francisco Javieretsit umaUNSPECIFIEDUNSPECIFIED
Journal or Publication Title:Sensors
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In ISI Web of Science:Yes
Publisher:Multidisciplinary Digital Publishing Institute (MDPI)
Keywords:Landmark; inertial; pedestrian; navigation; pocket; drift; yaw; corners; stairs.
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrzeugintelligenz (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Munoz Diaz-Ropero, Estefania
Deposited On:07 Jul 2017 10:42
Last Modified:06 Nov 2023 08:16

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