A particle filter approach for pedestrian dead reckoning using wearable sensors

Yi Lin Hsu, Yan Ju Chen, Sheng Wen Shih

研究成果: 書貢獻/報告類型會議貢獻

2 引文 斯高帕斯(Scopus)

摘要

In this paper, a pedestrian dead reckoning (PDR)method is proposed based on the particle filter frameworkwith map information measurements from both an inertialmeasurement unit (IMU) on the footwear and a global positioningsystem (GPS). The main challenging of computingPDR with IMU signals is that the biases of IMU sensors willresult in unbounded integration drift. Therefore, a new methodthat uses non-zero velocity data for zero-velocity update ofthe accelerometer biases is proposed. Also, a measurementequation for the rate-gyro biases using accelerometer measurementsare derived. We also show that some heuristic driftcanceling rules can be easily incorporated into the particlefilter framework. Experimental results show that the proposedmethod can effectively reduce the accumulation error from 42meters to 10 meters.
原文英語
主出版物標題Proceedings - 2016 10th International Conference on Innovative Mobile and Internet Services in Ubiquitous Computing, IMIS 2016
編輯Fatos Xhafa, Leonard Barolli, Noriki Uchida
發行者Institute of Electrical and Electronics Engineers Inc.
頁面26-32
頁數7
ISBN(電子)9781509009848
DOIs
出版狀態已發佈 - 12月 21 2016
事件10th International Conference on Innovative Mobile and Internet Services in Ubiquitous Computing, IMIS 2016 - Fukuoka, 日本
持續時間: 7月 6 20167月 8 2016

出版系列

名字Proceedings - 2016 10th International Conference on Innovative Mobile and Internet Services in Ubiquitous Computing, IMIS 2016

會議

會議10th International Conference on Innovative Mobile and Internet Services in Ubiquitous Computing, IMIS 2016
國家/地區日本
城市Fukuoka
期間7/6/167/8/16

ASJC Scopus subject areas

  • 電腦網路與通信
  • 電腦科學應用

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