Staff View: Using Constraints for Shoe Mounted Indoor Pedestrian Navigation

Using Constraints for Shoe Mounted Indoor Pedestrian Navigation

Shoe mounted Inertial Measurement Units (IMU) are often used for indoor pedestrian navigation systems. The presence of a zero velocity condition during the stance phase enables Zero Velocity Updates (ZUPT) to be applied regularly every time the user takes a step. Most of the velocity and attitude er...

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Main Authors:	Khairi, Abdulrahim,, Chris, Hide,, Terry, Moore,, Chris, Hill,
Format:	Article
Language:	en_US
Published:	Cambridge University Press 2015
Subjects:	Inertial Measurement Units (IMU) Zero Integrated Heading Rate (ZIHR)
Online Access:	http://ddms.usim.edu.my/handle/123456789/8468
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id	my.usim-8468
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spelling	my.usim-84682017-02-23T02:38:27Z Using Constraints for Shoe Mounted Indoor Pedestrian Navigation Khairi, Abdulrahim, Chris, Hide, Terry, Moore, Chris, Hill, Inertial Measurement Units (IMU) Zero Integrated Heading Rate (ZIHR) Zero Integrated Heading Rate (ZIHR) Shoe mounted Inertial Measurement Units (IMU) are often used for indoor pedestrian navigation systems. The presence of a zero velocity condition during the stance phase enables Zero Velocity Updates (ZUPT) to be applied regularly every time the user takes a step. Most of the velocity and attitude errors can be estimated using ZUPTs. However, good heading estimation for such a system remains a challenge. This is due to the poor observability of heading error for a low cost Micro-Electro-Mechanical (MEMS) IMU, even with the use of ZUPTs in a Kalman filter. In this paper, the same approach is adopted where a MEMS IMU is mounted on a shoe, but with additional constraints applied. The three constraints proposed herein are used to generate measurement updates for a Kalman filter, known as 'Heading Update', 'Zero Integrated Heading Rate Update' and 'Height Update'. The first constraint involves restricting heading drift in a typical building where the user is walking. Due to the fact that typical buildings are rectangular in shape, an assumption is made that most walking in this environment is constrained to only follow one of the four main headings of the building. A second constraint is further used to restrict heading drift during a non-walking situation. This is carried out because the first constraint cannot be applied when the user is stationary. Finally, the third constraint is applied to limit the error growth in height. An assumption is made that the height changes in indoor buildings are only caused when the user walks up and down a staircase. Several trials were shown to demonstrate the effectiveness of integrating these constraints for indoor pedestrian navigation. The results show that an average return position error of 4.62 meters is obtained for an average distance of 1557 meters using only a low cost MEMS IMU. 2015-06-22T01:55:57Z 2015-06-22T01:55:57Z 2012 Article 0373-4633 http://ddms.usim.edu.my/handle/123456789/8468 en_US Cambridge University Press
institution	Universiti Sains Islam Malaysia
building	USIM Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universit Sains Islam i Malaysia
content_source	USIM Institutional Repository
url_provider	http://ddms.usim.edu.my/
language	en_US
topic	Inertial Measurement Units (IMU) Zero Integrated Heading Rate (ZIHR) Zero Integrated Heading Rate (ZIHR)
spellingShingle	Inertial Measurement Units (IMU) Zero Integrated Heading Rate (ZIHR) Zero Integrated Heading Rate (ZIHR) Khairi, Abdulrahim, Chris, Hide, Terry, Moore, Chris, Hill, Using Constraints for Shoe Mounted Indoor Pedestrian Navigation
description	Shoe mounted Inertial Measurement Units (IMU) are often used for indoor pedestrian navigation systems. The presence of a zero velocity condition during the stance phase enables Zero Velocity Updates (ZUPT) to be applied regularly every time the user takes a step. Most of the velocity and attitude errors can be estimated using ZUPTs. However, good heading estimation for such a system remains a challenge. This is due to the poor observability of heading error for a low cost Micro-Electro-Mechanical (MEMS) IMU, even with the use of ZUPTs in a Kalman filter. In this paper, the same approach is adopted where a MEMS IMU is mounted on a shoe, but with additional constraints applied. The three constraints proposed herein are used to generate measurement updates for a Kalman filter, known as 'Heading Update', 'Zero Integrated Heading Rate Update' and 'Height Update'. The first constraint involves restricting heading drift in a typical building where the user is walking. Due to the fact that typical buildings are rectangular in shape, an assumption is made that most walking in this environment is constrained to only follow one of the four main headings of the building. A second constraint is further used to restrict heading drift during a non-walking situation. This is carried out because the first constraint cannot be applied when the user is stationary. Finally, the third constraint is applied to limit the error growth in height. An assumption is made that the height changes in indoor buildings are only caused when the user walks up and down a staircase. Several trials were shown to demonstrate the effectiveness of integrating these constraints for indoor pedestrian navigation. The results show that an average return position error of 4.62 meters is obtained for an average distance of 1557 meters using only a low cost MEMS IMU.
format	Article
author	Khairi, Abdulrahim, Chris, Hide, Terry, Moore, Chris, Hill,
author_facet	Khairi, Abdulrahim, Chris, Hide, Terry, Moore, Chris, Hill,
author_sort	Khairi, Abdulrahim,
title	Using Constraints for Shoe Mounted Indoor Pedestrian Navigation
title_short	Using Constraints for Shoe Mounted Indoor Pedestrian Navigation
title_full	Using Constraints for Shoe Mounted Indoor Pedestrian Navigation
title_fullStr	Using Constraints for Shoe Mounted Indoor Pedestrian Navigation
title_full_unstemmed	Using Constraints for Shoe Mounted Indoor Pedestrian Navigation
title_sort	using constraints for shoe mounted indoor pedestrian navigation
publisher	Cambridge University Press
publishDate	2015
url	http://ddms.usim.edu.my/handle/123456789/8468
_version_	1645152423173423104
score	13.222552

Using Constraints for Shoe Mounted Indoor Pedestrian Navigation

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