Three-Dimensional Pedestrian Position Estimation Algorithm Using Waist-Mounted IMU Sensor

Abstract

This paper proposes a three-dimensional pedestrian position estimation algorithm using a waist-mounted Inertial Measurement Unit (IMU) sensor. A Pedestrian Dead Reckoning (PDR) system has been implemented using a single IMU sensor to locate a pedestrian who is carrying the PDR system on his waist in a building in which GPS signals are too weak to be utilized for localization. The position estimation system using IMU data suffers from degraded accuracy caused by the bias drift of gyroscope values. This approach adopts the quaternion to reduce the bias drift and obtain the precise Euler angles to localize the pedestrian in two-dimensional space with the step length estimation. To extend the localization into three-dimensional space to incorporate situations in which the pedestrian is ascending or descending the stairs, Zero-Velocity UpdaTe (ZUPT) scheme has been applied for processing gyroscope data from the IMU sensor. Real experiments have been performed to show the proposed algorithm's effectiveness in both two-and three-dimensional spaces.

Three-dimensional indoor location estimation using single inertial navigation system with linear regression

“…Figures 13-15 are the results of experiments using the waist IMU sensor, the final plan, the side view, and 3D estimation. The green dot lines represent a conventional estimation [25] where the linear regression algorithm is not applied for, and red dot lines represent the proposed estimation with the linear regression algorithm. The blue dotted line is the reference route which is pre-determined for the pedestrian.…”