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Dual Foot-PDR System Considering Lateral Position Error Characteristics
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- Authors
- Issue Date
- 2022-03
- Publisher
- 사단법인 항법시스템학회
- Citation
- Journal of Positioning, Navigation, and Timing, Vol.11 No.1, pp.35-44
- Abstract
- In this paper, a dual foot (DF)-PDR system is proposed for the fusion of integration (IA)-based PDR systems independently applied on both shoes. The horizontal positions of the two shoes estimated from each PDR system are fused based on a particle filter. The proposed method bounds the position error even if the walking time increases without an additional sensor. The distribution of particles is a non-Gaussian distribution to express the lateral error due to systematic drift. Assuming that the shoe position is the pedestrian position, the multi-modal position distribution can be fused into one using the Gaussian sum. The fused pedestrian position is used as a measurement of each particle filter so that the position error is corrected. As a result, experimental results show that position of pedestrians can be effectively estimated by using only the inertial sensors attached to both shoes.
- ISSN
- 2288-8187
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