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Pedestrian Dead Reckoning with Low-Cost Foot-Mounted IMU Sensor.

Shunsei Yamagishi1, Lei Jing1

  • 1Graduate School of Computer and Information Systems, The University of Aizu, Aizuwakamatsu 965-0006, Japan.

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Summary

This study improves pedestrian dead reckoning (PDR) using a foot-mounted IMU sensor. New methods reduce accumulated errors and magnetic noise, achieving accurate distance estimation for PDR systems.

Keywords:
PDRgait phase estimationkalman filterzero velocity update

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Area of Science:

  • Robotics
  • Sensor Fusion
  • Inertial Navigation

Background:

  • Pedestrian Dead Reckoning (PDR) systems often suffer from accumulated errors and magnetic noise.
  • Noise in acceleration and gyro data from IMU sensors degrades PDR accuracy.
  • Existing PDR methods struggle with precise gait-phase estimation and error correction.

Purpose of the Study:

  • To propose novel methods for enhancing PDR accuracy using a single foot-mounted IMU sensor.
  • To address the challenges of magnetic noise and accumulated errors in PDR.
  • To improve the reliability of distance and direction estimation in PDR.

Main Methods:

  • Developed a gait-phase-estimation method utilizing pitch angle for Zero Velocity Update (ZVU).
  • Implemented an error-avoidance technique by updating roll and pitch angles using acceleration data.
  • Conducted experiments to evaluate gait-phase and distance estimation errors.

Main Results:

  • The proposed methods demonstrated reduced accumulated errors in PDR.
  • Distance estimation error was approximately 7.40% for straight walking.
  • Distance estimation error reached about 12.27% when travel direction shifted.

Conclusions:

  • The novel PDR methods effectively mitigate noise and accumulated errors.
  • The gait-phase estimation and acceleration-based angle updates improve PDR performance.
  • Accurate pedestrian navigation is achievable with a single foot-mounted IMU sensor.