Integration of GPS and low cost INS for pedestrian navigation aided by building layout

作     者：Feng Wenquan Zhao Hongbo Zhao Qi Li Jingwen 

作者机构：School of Electronics and Information EngineeringBeihang University 

出 版 物：《Chinese Journal of Aeronautics》 (中国航空学报（英文版）)

年 卷 期：2013年第26卷第5期

页      面：1283-1289页

核心收录：

学科分类：08[工学] 080401[工学-精密仪器及机械] 081105[工学-导航、制导与控制] 0804[工学-仪器科学与技术] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程] 

基　　金：The trial undertaken for this paper was partly conducted at Nottingham Geospatial Institute at the University of Notting-ham  UK. The authors would like to express the sincere grat-itude to DrMeng for the infinite support and guidance throughout the trial 

主　　题：Heading drift Initialization Integrated navigation Pedestrian navigation Satellite navigation Zero velocity update 

摘      要：In outdoor environments, GPS is often used for pedestrian navigation by utilizing its signals for position computation, but in indoor or semi-obstructed environments, GPS signals are often unavailable. Therefore, pedestrian navigation for these environments should be realized by the integration of GPS and inertial navigation system （INS）. However, the lowcost INS could induce errors that may result in a large position drift. The problem can be minimized by mounting the sensors on the pedestrian＇s foot, using zero velocity update （ZUPT） method with the standard navigation algorithm to restrict the error growth. However, heading drift still remains despite using ZUPT measurements since the heading error is unobservable. Also, tbot mounted INS suffers from the initialization ambiguity of position and heading from GPS. In this paper, a novel algorithm is developed to mitigate the heading drift problem when using ZUPT. The method uses building lay- out to aid the heading measurement in Kalman filter, and it could also be combined for the initial- ization. The algorithm has been investigated with real field trials using the low cost Microstrain 3DM-GX3-25 inertial sensor, a Leica GS10 GPS receiver and a uBlox EVK-6T GPS receiver. It could be concluded that the proposed method offers a significant improvement in position accuracy for the long period, allowing pedestrian navigation for nearly40 min with mean position error less than 2.8 m. This method also has a considerable effect on the accuracy of the initialization.