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Inertial Pocket Navigation System: Unaided 3D Positioning

Munoz Diaz, Estefania (2015) Inertial Pocket Navigation System: Unaided 3D Positioning. Sensors, 15, pp. 9156-9178. Multidisciplinary Digital Publishing Institute (MDPI). doi: 10.3390/s150409156. ISSN 1424-8220.

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Official URL: http://www.mdpi.com/1424-8220/15/4/9156/


Inertial navigation systems use dead-reckoning to estimate the pedestrian's position. There are two types of pedestrian dead-reckoning, the strapdown algorithm and the step-and-heading approach. Unlike the strapdown algorithm, which consists of the double integration of the three orthogonal accelerometer readings, the step-and-heading approach lacks the vertical displacement estimation. We propose the first step-and-heading approach based on unaided inertial data solving 3D positioning. We present a step detector for steps up and down and a novel vertical displacement estimator. Our navigation system uses the sensor introduced in the front pocket of the trousers, a likely location of a smartphone. The proposed algorithms are based on the opening angle of the leg or pitch angle. We analyzed our step detector and compared it with the state-of-the-art, as well as our already proposed step length estimator. Lastly, we assessed our vertical displacement estimator in a real-world scenario. We found that our algorithms outperform the literature step and heading algorithms and solve 3D positioning using unaided inertial data. Additionally, we found that with the pitch angle, five activities are distinguishable: standing, sitting, walking, walking up stairs and walking down stairs. This information complements the pedestrian location and is of interest for applications, such as elderly care.

Item URL in elib:https://elib.dlr.de/96014/
Document Type:Article
Title:Inertial Pocket Navigation System: Unaided 3D Positioning
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Munoz Diaz, Estefaniaestefania.munoz (at) dlr.deUNSPECIFIED
Date:17 April 2015
Journal or Publication Title:Sensors
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In ISI Web of Science:Yes
Page Range:pp. 9156-9178
EditorsEmailEditor's ORCID iD
Khoshelham, KouroshKourosh.khoshelham@unimelb.edu.auUNSPECIFIED
Zlatanova, Sisis.zlatanova@tudelft.nlUNSPECIFIED
Publisher:Multidisciplinary Digital Publishing Institute (MDPI)
Series Name:Special Issue Sensors for Indoor Mapping and Navigation
Keywords:step length; step detector; attitude; pedestrian; dead reckoning; orientation; pitch; vertical displacement; activity
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:21 Apr 2015 10:28
Last Modified:14 Dec 2019 04:27

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