Low-complexity online correction and calibration of pedestrian dead reckoning using map matching and GPS

作     者：Fabian Hölzke Johann-P.Wolff Frank Golatowski Christian Haubelt 

作者机构：Institute of Applied Microelectronics and CEUniversity of RostockRostockGermany 

出 版 物：《Geo-Spatial Information Science》 (地球空间信息科学学报（英文）)

年 卷 期：2019年第22卷第2期

页      面：114-127,I0004页

核心收录：

学科分类：0303[法学-社会学] 0709[理学-地质学] 08[工学] 0708[理学-地球物理学] 082303[工学-交通运输规划与管理] 0705[理学-地理学] 0813[工学-建筑学] 0833[工学-城乡规划学] 082302[工学-交通信息工程及控制] 0812[工学-计算机科学与技术（可授工学、理学学位）] 0823[工学-交通运输工程] 

主　　题：Indoor localization Pedestrian Dead Reckoning(PDR) Inertial Navigation System(INS) map matching Zero Velocity Update(ZUPT) 

摘      要：Dead Reckoning is a relative positioning scheme that is used to infer the change of position relative to a point of origin by measuring the traveled distance and orientation *** Dead Reckoning(PDR)applies this concept to walking *** method can be used to track someone s movement in a building after a known landmark like the building s entrance is ***,the movement of a foot and the corresponding direction change is measured and summed up,to infer the current *** and integrating the corresponding physical parameters,*** inertial sensors,introduces small errors that accumulate quickly into large distance *** of a buildings geography may reduce these errors as it can be used to keep the estimated position from moving through walls and onto likely *** this paper,we use building maps to improve localization based on a single foot-mounted inertial *** describe our localization method using zero velocity updates to accurately compute the length of individual steps and a Madgwick filter to determine the step *** though the computation of individual steps is quite accurate,small errors still accumulate in the long *** show how correction algorithms using likely and unlikely paths can rectify errors intrinsic to pedestrian dead reckoning tasks,such as orientation and displacement drift,and discuss restrictions and disadvantages of these *** also present a method of deriving the initial position and orientation from GPS *** verify our PDR correction methods analyzing the corrected and raw trajectories of six participants walking four routes of varying length and complexity through an office building,walking each route three *** quantitative results show an endpoint accuracy improvement of up to 60%when using likely paths and 23%when using unlikely ***,both approaches can also decrease accuracy in certain *** identify those scenarios and