RTK/Pseudolite/LAHDE/IMU-PDR Integrated Pedestrian Navigation System for Urban and Indoor Environments

Abstract

This paper presents an evaluation of real-time kinematic (RTK)/Pseudolite/landmarks assistance heuristic drift elimination (LAHDE)/inertial measurement unit-based personal dead reckoning systems (IMU-PDR) integrated pedestrian navigation system for urban and indoor environments. Real-time kinematic (RTK) technique is widely used for high-precision positioning and can provide periodic correction to inertial measurement unit (IMU)-based personal dead reckoning systems (PDR) outdoors. However, indoors, where global positioning system (GPS) signals are not available, RTK fails to achieve high-precision positioning. Pseudolite can provide satellite-like navigation signals for user receivers to achieve positioning in indoor environments. However, there are some problems in pseudolite positioning field, such as complex multipath effect in indoor environments and integer ambiguity of carrier phase. In order to avoid the limitation of these factors, a local search method based on carrier phase difference with the assistance of IMU-PDR is proposed in this paper, which can achieve higher positioning accuracy. Besides, heuristic drift elimination algorithm with the assistance of manmade landmarks (LAHDE) is introduced to eliminate the accumulated error in headings derived by IMU-PDR in indoor corridors. An algorithm verification system was developed to carry out real experiments in a cooperation scene. Results show that, although the proposed pedestrian navigation system has to use human behavior to switch the positioning algorithm according to different scenarios, it is still effective in controlling the IMU-PDR drift error in multiscenarios including outdoor, indoor corridor, and indoor room for different people.

Integrated PDR/GNSS at Different Times for Pedestrian Localization in Urban Canyon

“…Thus, there are two conditions: firstly, when the GNSS receiver receives new information and the number of different satellites is smaller than four, the first position has not been performed. At this time, the following equations are added in the formula (16) (28), as shown at the bottom of the page. And formula ( 17) is updating to:…”

“…The second condition is the number of different satellites is bigger than 3. In this case, in addition to adding the equations (28), it is also important to determine whether the GNSS measurement is redundant. And we need to eliminate the redundant measurement and update formulas (16) and (17).…”

A Robust GNSS/PDR Integration Scheme with GRU-Based Zero-Velocity Detection for Mass-Pedestrians

“…Zhu et al proposed a novel pedestrian navigation system (PNS) integrating RTK/Pseudolite/LAHDE/IMU, which uses manmade landmarks deployed at the entrance of the corridor to determine whether pedestrians are in an indoor corridor. If pedestrians do not follow a route with landmarks, the error will accumulate quickly [13]. Xin et al presented a joint positioning scheme combining Bluetooth and inertial navigation systems, which provides meter-level positioning services without additional facilities [14].…”

A Pseudolite Indoor Wide-Area Networking Technology Based on Signal Multilevel Features

“…In the previous research process, the principle of pseudolite [16][17][18][19][20][21][22][23][24][25] has been briefly introduced. The pseudolite generates a local intermediate frequency signal under the control of the same clock.…”