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Pedestrian Navigation Using Foot-Mounted Inertial Sensor and LIDAR.

Duy Duong Pham1, Young Soo Suh2

  • 1Department of Electrical Engineering, University of Ulsan, Namgu, Ulsan 680-749, Korea. duyduongd2@gmail.com.

Sensors (Basel, Switzerland)
|January 23, 2016
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Summary

This study improves indoor pedestrian navigation by combining inertial measurement units (IMUs) with LIDAR distance sensors. The system accurately detects walls to correct pedestrian heading, enhancing location accuracy in complex indoor environments.

Keywords:
IMUKalman filtersLIDARdistance sensorinertial sensorpedestrian navigation

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Area of Science:

  • Robotics
  • Indoor Navigation
  • Sensor Fusion

Background:

  • Foot-mounted inertial sensors (IMUs) are used for indoor pedestrian navigation.
  • Current methods face challenges in maintaining accuracy, especially in complex environments.

Purpose of the Study:

  • To enhance indoor pedestrian location accuracy.
  • To propose a novel navigation method integrating IMUs with distance sensors.

Main Methods:

  • Utilized a time-of-flight range finder (LIDAR) with a 30m range.
  • Developed an algorithm to automatically detect corridor walls using LIDAR data.
  • Implemented wall detection for real-time correction of pedestrian heading.

Main Results:

  • Significant improvement in heading accuracy was demonstrated.
  • The proposed system proved robust in indoor settings with doors and moving people.
  • Enhanced pedestrian location accuracy was achieved through sensor fusion.

Conclusions:

  • Combining IMUs with LIDAR significantly improves indoor pedestrian navigation accuracy.
  • The wall-detection-based heading correction is effective and robust.
  • This approach offers a reliable solution for indoor localization challenges.