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Standalone Inertial Pocket Navigation System

Munoz Diaz, Estefania and Mendiguchia Gonzalez, Ana Luz and De Ponte Müller, Fabian (2014) Standalone Inertial Pocket Navigation System. ION/PLANS May 2014, 2014-05-05 - 2014-05-08, Monterey, California. EEUU.. doi: 10.1109/plans.2014.6851382.

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Positioning applications are being more important in recent years not only for security applications, but also for the mass market. Having a pedestrian navigation system embedded in a mobile phone is a realistic solution since they are equipped with low-cost sensors and handheld is a non-obstructive location. Four different handheld positions can be distinguished, i.e. pocket or bag, phoning, texting and swinging. We present a standalone inertial pocket navigation system. It only requires introducing the inertial measurement unit in the trousers’ pocket and walking freely. For the orientation computation, we have developed an attitude estimator based on an unscented Kalman filter. The update stage has two different updates based on the acceleration and the magnetic field. Therefore, a zero acceleration detector, a magnetic disturbances detector and a static periods detector have been developed. The odometry in our navigation system is computed through an extended Kalman filter. The position is predicted with a movement model which is periodically updated through position corrections computed by the position computer. It comprises a step detector and a step length estimator based on the norm of the acceleration. The performance of our attitude estimator in comparison with the ground truth orientation is shown. The rest of the handheld positions are also tested for orientation. Likewise, we show pocket odometries of different users with the floor plan superimposed.

Item URL in elib:https://elib.dlr.de/88659/
Document Type:Conference or Workshop Item (Speech)
Title:Standalone Inertial Pocket Navigation System
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
De Ponte Müller, FabianUNSPECIFIEDhttps://orcid.org/0000-0002-2215-2174UNSPECIFIED
Date:March 2014
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:indoor, pocket, navigation, attitude estimator, magnetic field, odometry, heading, handheld
Event Title:ION/PLANS May 2014
Event Location:Monterey, California. EEUU.
Event Type:international Conference
Event Start Date:5 May 2014
Event End Date:8 May 2014
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication and Navigation
DLR - Research area:Raumfahrt
DLR - Program:R KN - Kommunikation und Navigation
DLR - Research theme (Project):R - Vorhaben GNSS2/Neue Dienste und Produkte (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Munoz Diaz-Ropero, Estefania
Deposited On:10 Nov 2014 09:48
Last Modified:24 Apr 2024 19:54

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