Improved Pedestrian Dead Reckoning Positioning With Gait Parameter Learning
2016 (English)In: Proceedings of the 19th International Conference on Information Fusion, IEEE conference proceedings, 2016, , 7 p.379-385 p.Conference paper (Refereed)
We consider personal navigation systems in devices equipped with inertial sensors and GPS, where we propose an improved Pedestrian Dead Reckoning (PDR) algorithm that learns gait parameters in time intervals when position estimates are available, for instance from GPS or an indoor positioning system (IPS). A novel filtering approach is proposed that is able to learn internal gait parameters in the PDR algorithm, such as the step length and the step detection threshold. Our approach is based on a multi-rate Kalman filter bank that estimates the gait parameters when position measurements are available, which improves PDR in time intervals when the position is not available, for instance when passing from outdoor to indoor environments where IPS is not available. The effectiveness of the new approach is illustrated on several real world experiments.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2016. , 7 p.379-385 p.
Signal Processing Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-130174ISBN: 978-0-9964527-4-8OAI: oai:DiVA.org:liu-130174DiVA: diva2:948796
19th International Conference on Information Fusion (FUSION), Heidelberg, Germany, July 5-8 2016
FunderEU, FP7, Seventh Framework Programme, 607400