RTK/Pseudolite/LAHDE/IMU-PDR Integrated Pedestrian Navigation System for Urban and Indoor Environments.

Area of Science:

• Navigation Systems
• Geomatics Engineering
• Robotics and Autonomous Systems

Background:

• Real-time kinematic (RTK) offers high-precision outdoor positioning but fails indoors due to GPS unavailability.
• Pseudolite systems enable indoor positioning but face challenges like multipath effects and carrier phase ambiguity.
• Inertial measurement unit-based personal dead reckoning (IMU-PDR) systems accumulate drift errors over time.

Purpose of the Study:

• To evaluate an integrated pedestrian navigation system for urban and indoor environments.
• To address the limitations of existing positioning technologies in diverse scenarios.
• To develop a robust system for accurate pedestrian navigation, particularly indoors.

Main Methods:

• Integration of RTK, pseudolite, and IMU-PDR for a hybrid pedestrian navigation system.
• Development of a local search method using carrier phase difference with IMU-PDR assistance for enhanced accuracy.
• Implementation of a heuristic drift elimination algorithm with landmarks (LAHDE) for heading error correction in indoor corridors.
• Algorithm verification through experimental testing in various cooperative scenes.

Main Results:

• The proposed system demonstrates effectiveness in controlling IMU-PDR drift errors across outdoor, indoor corridor, and indoor room environments.
• The system's performance was validated for different users and diverse multi-scenario conditions.
• Human behavior-assisted switching between positioning algorithms proved effective for scenario adaptation.

Conclusions:

• The integrated pedestrian navigation system offers a viable solution for accurate positioning in both urban and indoor settings.
• The combination of techniques effectively overcomes the limitations of individual positioning methods.
• The system shows promise for applications requiring reliable pedestrian tracking in complex environments.