期刊
SIMULATION-TRANSACTIONS OF THE SOCIETY FOR MODELING AND SIMULATION INTERNATIONAL
卷 92, 期 9, 页码 839-848出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/0037549716655220
关键词
Indoor pedestrian navigation; inertial navigation system; dead reckoning; two mode
资金
- National Natural Science Foundation of China [51375087, 41204025, 50975049]
- Shandong Provincial Natural Science Foundation, China [ZR2014FP010, ZR2015PE017]
- Doctoral Foundation of the University of Jinan [XBS1503, XBS1501]
The traditional inertial navigation system-based indoor pedestrian navigation method is not suitable to all the conditions, since its data fusion model is designed only for a single condition. In order to achieve better performance, a two-mode navigation method for indoor pedestrian navigation is proposed in this work, which includes the stance mode and the swing mode. When the person's foot is in a stance phase, the stance mode is used to correct the velocity error and yaw error. When the person's foot is in a swing phase, the swing mode works and only the yaw error is able to be corrected. For verification, a real indoor test has been done to assess the performance of the proposed two-mode method. The position root-mean-square error (RMSE) value is 1.9265 m during a 176-m traverse, and the RMSE of yaw is 0.20734 rad. These results demonstrate that our method is effective to reduce the error compared with the conventional schemes.
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