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MEMS Based Pedestrian Navigation System

Cited 122 time in Web of Science Cited 160 time in Scopus
Issue Date
2006-01
Publisher
Cambridge University Press
Citation
The Journal of Navigation (2006), 59, 135–153
Keywords
Pedestrian Navigation SystemModified RHKF Filter
Abstract
In this paper we present a micro-electrical mechanical system (MEMS) based pedestrian
navigation system (PNS) for seamless positioning. The sub-algorithms for the PNS are
developed and the positioning performance is enhanced using the modified receding horizon
Kalman finite impulse response filter (MRHKF). The PNS consists of a biaxial accelerometer
and a biaxial magnetic compass mounted on a shoe. The PNS detects a step using a
novel technique during the stance phase and simultaneously calculates walking information.
Step length is estimated using a neural network whose inputs are the walking information.
The azimuth is calculated using the magnetic compass, the walking information and the tilt
compensation algorithm. Using the proposed sub-algorithms, seamless positioning can be
accomplished. However, the magnetic compass based azimuth may have an error that varies
according to the surrounding magnetic field. In this paper, the varying error is compensated
using the MRHKF filter. Finally, the performance enhanced seamless positioning is
achieved, and the performance is verified by experiment.
ISSN
0373-4633
Language
English
URI
https://hdl.handle.net/10371/69251
DOI
https://doi.org/10.1017/S0373463305003486
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College of Engineering/Engineering Practice School (공과대학/대학원)Dept. of Mechanical Aerospace Engineering (기계항공공학부)Journal Papers (저널논문_기계항공공학부)
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