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MEMS Based Pedestrian Navigation System
Cited 122 time in
Web of Science
Cited 160 time in Scopus
- Authors
- Issue Date
- 2006-01
- Publisher
- Cambridge University Press
- Citation
- The Journal of Navigation (2006), 59, 135–153
- Keywords
- Pedestrian Navigation System ; Modified 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
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