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Journal of Systems Engineering and Electronics ›› 2022, Vol. 33 ›› Issue (3): 727-736.doi: 10.23919/JSEE.2022.000067

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  • 收稿日期:2021-04-20 出版日期:2022-06-18 发布日期:2022-06-24

Heading constraint algorithm for foot-mounted PNS using low-cost IMU

Jing GUI, Heming ZHAO*(), Xiang XU()   

  1. 1 School of Electronic and Information Engineering, Soochow University, Suzhou 215006, China
  • Received:2021-04-20 Online:2022-06-18 Published:2022-06-24
  • Contact: Heming ZHAO E-mail:hemzhao@163.com;hsianghsu@163.com
  • About author:|GUI Jing was born in 1997. He received his B.S. degree from Soochow University, Suzhou, China, in 2019. He is currently pursuing his M.S. degree in the School of Electronic and Information Engineering, Soochow University. His current research interests include low-cost inertial navigation systems and pedestrian navigation.E-mail: jgui716@163.com||ZHAO Heming was born in 1957. He received his M.S. degree from Soochow University, Suzhou, China, in 1982. He is a doctoral tutor and a dean in the School of Electronic and Information Engineering, Soochow University. He is a member of IEEE and a senior member of Chinese Electronic Institute, and he is a member of the editorial boards of signal processing. His current research interests include speech signal processing and intelligent computing. E-mail: hemzhao@163.com||XU Xiang was born in 1988. He received his M.S. degree from Harbin Engineering University, Harbin, China, in 2014, and his Ph.D. degree from Southeast University, Nanjing, China, in 2018. He is currently a lecturer with the School of Electronic and Information Engineering, Soochow University. His current research interests include initial alignment for inertial navigation, integrated navigation for autonomous underwater vehicle, attitude estimation for low-cost inertial measurement unit and information fusion. E-mail: hsianghsu@163.com
  • Supported by:
    This work was supported by the National Natural Science Foundation of China (61803278).

Abstract:

Foot-mounted pedestrian navigation system (PNS) is a common solution to pedestrian navigation using micro-electro mechanical system (MEMS) inertial sensors. The inherent problems of inertial navigation system (INS) by the traditional algorithm, such as the accumulated errors and the lack of observation of heading and altitude information, have become obstacles to the application and development of the PNS. In this paper, we introduce a heuristic heading constraint method. First of all, according to the movement characteristics of human gait, we use the generalized likelihood ratio test (GLRT) detector and introduce a time threshold to classify the human gait, so that we can effectively identify the stationary state of the foot. In addition, based on zero velocity update (ZUPT) and zero angular rate update (ZARU), the cumulative error of the inertial measurement unit (IMU) is limited and corrected, and then a heuristic heading estimation is used to constrain and correct the heading of the pedestrian. After simulation and experiments with low-cost IMU, the method is proved to reduce the localization error of end-point to less than 1% of the total distance, and it has great value in application.

Key words: pedestrian navigation system (PNS), zero velocity update (ZUPT), gait detection, heading constraint