S-PDR: SBAUPT-Based Pedestrian Dead Reckoning Algorithm for Free-Moving Handheld Devices

Abstract

Mobile location-based services (MLBS) are attracting attention for their potential public and personal use for a variety of applications such as location-based advertisement, smart shopping, smart cities, health applications, emergency response, and even gaming. Many of these applications rely on Inertial Navigation Systems (INS) due to the degraded GNSS services indoors. INS-based MLBS using smartphones is hindered by the quality of the MEMS sensors provided in smartphones which suffer from high noise and errors resulting in high drift in the navigation solution rapidly. Pedestrian dead reckoning (PDR) is an INS-based navigation technique that exploits human motion to reduce navigation solution errors, but the errors cannot be eliminated without aid from other techniques. The purpose of this study is to enhance and extend the short-term reliability of PDR systems for smartphones as a standalone system through an enhanced step detection algorithm, a periodic attitude correction technique, and a novel PCA-based motion direction estimation technique. Testing shows that the developed system (S-PDR) provides a reliable short-term navigation solution with a final positioning error that is up to 6 m after 3 min runtime. These results were compared to a PDR solution using an Xsens IMU which is known to be a high grade MEMS IMU and was found to be worse than S-PDR. The findings show that S-PDR can be used to aid GNSS in challenging environments and can be a viable option for short-term indoor navigation until aiding is provided by alternative means. Furthermore, the extended reliable solution of S-PDR can help reduce the operational complexity of aiding navigation systems such as RF-based indoor navigation and magnetic map matching as it reduces the frequency by which these aiding techniques are required and applied.

A Hybrid Indoor Positioning Model for Critical Situations Based on Localization Technologies

“…The accumulative drift error caused by the low accuracy of IMU sensor is still a challenge of PDR and cannot be eliminated by itself [58]. Khedr and El-Sheimy [59] mentioned that PDR systems that suffer from the inherited errors are reliable for a limited period, and in order to correct and compensate those errors, an aid by other technologies is required. Within multiple floors building, it is very difficult for pedestrian to be tracked using PDR only, since this technology has challenge in detecting floor transitions and identifying the correct floor number [60].…”

Automatic Hajj and Umrah Ritual Detection Using IMU Sensors

“…PDR technique [24]- [27] used for path tracking in this work consists of two main stages. The first stage is step counting and travel distance estimation.…”

Developments of a centimeter-level precise muometric wireless navigation system (MuWNS-V) and its first demonstration using directional information from tracking detectors

“…However, if there are radio frequency shielding obstacles such as metal or seawater between the access points and the client receiver devices, their navigation probes are blocked and as a result, the navigation quality will degrade significantly or the navigation signal itself will be unavailable. LiDAR 4 , Dead reckoning 5 , photographic-based imagery 6 can also be used for specific purposes of navigation such as the ones used in the collision avoidance support system 7 , however, since these techniques do not provide coordinate values of the clients within the given coordinate, navigation routes cannot be programmed with these methods. On the other hand, navigation routes can be programmed by utilizing dead reckoning 5 .…”