A Step, Stride and Heading Determination for the Pedestrian Navigation System

Abstract

Abstract.Recently, several simple and cost-effective pedestrian navigation systems (PNS) have been introduced. These systems utilized accelerometers and gyros in order to determine step, stride and heading. The performance of the PNS depends on not only the accuracy of the sensors but also the measurement processing methods. In most PNS, a vertical impact is measured to detect a step. A step is counted when the measured vertical impact is larger than the given threshold. The numbers of steps are miscounted sometimes since the vertical impacts are not correctly measured due to inclination of the foot. Because the stride is not constant and changes with speed, the step length parameter must be determined continuously during the walk in order to get the accurate travelled distance. Also, to get the accurate heading, it is required to overcome drawbacks of low grade gyro and magnetic compass. This paper proposes new step, stride and heading determination methods for the pedestrian navigation system: A new reliable step determination method based on pattern recognition is proposed from the analysis of the vertical and horizontal acceleration of the foot during one step of the walking. A simple and robust stride determination method is also obtained by analysing the relationship between stride, step period and acceleration. Furthermore, a new integration method of gyroscope and magnetic compass gives a reliable heading. The walking test is preformed using the implemented system consists of a 1-axis accelerometer, a 1-axis gyroscope, a magnetic compass and 16-bit microprocessor. The results of walking test confirmed the proposed method.

An Indoor Pedestrian Localization Algorithm Based on Multi-Sensor Information Fusion

“…The direction sensor can capture changes in the direction of motion of the pedestrian. This paper uses the empirical formula to calculate the step size, and correct the user's step size dynamically [12].…”

Indoor Positioning Capabilities of Cognitive Entities

“…The second method of obtaining the linear movement is the signal processing [12,13]. First of all, in a smartphone based PDR system the activity classification is the initial procedure, i.e., the pedestrian state is recognized whether it is static or walking.…”

“…• Weinberg approach [20] • Scarlet approach [21] • Kim approach [13] The last part of PDR positioning is to estimate the pedestrian's heading direction. Magnetometer and gyroscope are widely used to calculate the heading.…”

Indoor positioning based on foot-mounted IMU

“…There are a few algorithms in the literature for step detection based on acceleration [6] and angular rate [7]. We use a multi-condition algorithm to complete the step detection by using the outputs of accelerometers and gyroscopes.…”

“…Positioning and navigation systems have achieved great success in personal navigation applications or location-based services (LBS) and are now becoming standard features in today's intelligent mobile devices [1][2][3][4][5][6][7][8][9][10]. As GPS is essential for outdoor navigation, locating a mobile user anytime and anywhere it is still a challenging task, especially in GPS degraded and denied environments such as urban canyons and indoor environments Lately, some other positioning techniques have been developed such as wearable dead reckoning (DR) sensors, pseudolites, Wi-Fi, ZigBee, Ultra Wideband (UWB), and RFID to obtain a seamless indoor/outdoor positioning solution.…”