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

Sensors ◽  
2020 ◽  
Vol 20 (6) ◽  
pp. 1791
Author(s):  
Ruihui Zhu ◽  
Yunjia Wang ◽  
Hongji Cao ◽  
Baoguo Yu ◽  
Xingli Gan ◽  
...  
Keyword(s):  
Real Time ◽  
High Precision ◽  
Navigation System ◽  
Carrier Phase ◽  
Inertial Measurement Unit ◽  
Dead Reckoning ◽  
Measurement Unit ◽  
Indoor Environments ◽  
Inertial Measurement ◽  
Pedestrian Navigation

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.

scholarly journals A Novel Calibration Method for Gyro-Accelerometer Asynchronous Time in Foot-Mounted Pedestrian Navigation System

Sensors ◽  
2021 ◽  
Vol 22 (1) ◽  
pp. 209
Author(s):  
Tianyu Chen ◽  
Gongliu Yang ◽  
Qingzhong Cai ◽  
Zeyang Wen ◽  
Wenlong Zhang
Keyword(s):  
Attitude Change ◽  
Navigation System ◽  
Inertial Measurement Unit ◽  
Detection Method ◽  
Calibration Method ◽  
Sampling Time ◽  
Measurement Unit ◽  
Positioning Accuracy ◽  
Inertial Measurement ◽  
Pedestrian Navigation

Pedestrian Navigation System (PNS) is one of the research focuses of indoor positioning in GNSS-denied environments based on the MEMS Inertial Measurement Unit (MIMU). However, in the foot-mounted pedestrian navigation system with MIMU or mobile phone as the main carrier, it is difficult to make the sampling time of gyros and accelerometers completely synchronous. The gyro-accelerometer asynchronous time affects the positioning of PNS. To solve this problem, a new error model of gyro-accelerometer asynchronous time is built. The effect of gyro-accelerometer asynchronous time on pedestrian navigation is analyzed. A filtering model is designed to calibrate the gyro-accelerometer asynchronous time, and a zero-velocity detection method based on the rate of attitude change is proposed. The indoor experiment shows that the gyro-accelerometer asynchronous time is estimated effectively, and the positioning accuracy of PNS is improved by the proposed method after compensating for the errors caused by gyro-accelerometer asynchronous time.

scholarly journals Pedestrian navigation system based on the inertial measurement unit sensor for outdoor and indoor environments

2020 ◽  
Vol 9 (1) ◽  
pp. 7-13
Author(s):  
Marcin Uradzinski ◽  
Hang Guo
Keyword(s):  
Inertial Measurement Unit ◽  
Angular Rate ◽  
Dead Reckoning ◽  
Step Length ◽  
Position Estimation ◽  
Outdoor Environment ◽  
Measurement Unit ◽  
Indoor Environments ◽  
Inertial Measurement ◽  
Step Detection

Abstract. With the continuous improvement of the hardware level of the inertial measurement unit (IMU), indoor pedestrian dead reckoning (PDR) using an inertial device has been paid more and more attention. Typical PDR system position estimation is based on acceleration obtained from accelerometers to measure the step count, estimate step length and generate the position with the heading received from angular sensors (magnetometers and gyroscopes). Unfortunately, collected signals are very responsive to the alignment of sensor devices, built-in instrumental errors and distortions from the surrounding environment. In our work, a pedestrian positioning method using step detection based on a shoe-mounted inertial unit is arranged and put to the test, and the final results are analyzed. The extended Kalman filter (EKF) provides estimation of the errors which are acquired by the XSENS IMU sensor biases. The EKF is revised with acceleration and angular rate computations by the ZUPT (zero velocity update) and ZARU (zero angular rate update) algorithms. The step detection associated with these two solutions is the perfect choice to calculate the current position and distance walked and to estimate the IMU sensors' collected errors by using EKF. The test with a shoe-mounted IMU device was performed and analyzed in order to check the performance of the recommended method. The combined PDR final results were compared to GPS/Beidou postprocessing kinematic results (outdoor environment) and to a real route which was prepared and calculated for an indoor environment. After the comparison, the results show that the accuracy of the regular-speed walking under ZUPT and ZARU combination in the case of outdoor positioning did not go beyond 0.19 m (SD) and for indoor positioning accuracy did not exceed 0.22 m (SD). The authors are conscious that built-in drift errors coming from accelerometers and gyroscopes, as well as the final position obtained by XSENS IMU, are only stable for a short time period. Based on this consideration, our future work will be focused on supporting the methods presented with radio technologies (WiFi) or image-based solutions to correct all IMU imperfections.

The Automatic Basketball Rebound System

2018 ◽  
Author(s):  
Thomas Smith ◽  
Vidya K. Nandikolla
Keyword(s):  
Inertial Measurement Unit ◽  
High Efficiency ◽  
Dead Reckoning ◽  
Measurement Unit ◽  
System Response ◽  
The Novel ◽  
Rotary Table ◽  
Inertial Measurement ◽  
Correct Orientation ◽  
High Level

In the sport of basketball, it is important to practice shooting the ball to develop the skill of making the shot in the basket at a high efficiency. Making shots at a high efficiency allows the player to succeed at a high level in the sport. The main focus of the paper describes the design and development of an automatic basketball rebound (ABR) system. The developed ABR provides a system that will launch the ball back to the player at any position on the court within a 50-foot radius. This is accomplished by a variable spring loaded launching mechanism that will compress a spring, depending on the players location, to generate the appropriate force required to launch the ball back to the player. The novel launching mechanism developed is mounted to a rotary table that ensures the launching mechanism is in the correct orientation with the player once the ball is launched. The player is outfitted with an inertial measurement unit to track their position using a method known as dead reckoning. This information is relayed back to a microcontroller that determines the system response. The ABR system is made from lightweight materials and is compact such that it is easy to move around compared to its predecessors.

scholarly journals Real-Time Gait Analysis Using a Single Head-Worn Inertial Measurement Unit

2018 ◽  
Vol 64 (2) ◽  
pp. 240-248 ◽  
Author(s):  
Tong-Hun Hwang ◽  
Julia Reh ◽  
Alfred O. Effenberg ◽  
Holger Blume
Keyword(s):  
Gait Analysis ◽  
Real Time ◽  
Inertial Measurement Unit ◽  
Measurement Unit ◽  
Inertial Measurement

Development and Implementation of a Novel Digital Shot Sensor System

2013 ◽  
Vol 364 ◽  
pp. 228-232
Author(s):  
Wei Tian Wang ◽  
Quan Jun Song ◽  
Yu Man Nie ◽  
Bu Yun Wang ◽  
Hong Yu Ren ◽  
...  
Keyword(s):  
Real Time ◽  
Information Acquisition ◽  
Inertial Measurement Unit ◽  
Degrees Of Freedom ◽  
Sensor System ◽  
Measurement Unit ◽  
Inertial Measurement ◽  
Kinetic Information ◽  
Shot Put

Kinetic information acquisition of shot throwing is significant for the train of shot put athletes. This paper presents a novel sensor system based on a 9 degrees of freedom inertial measurement unit, which provides attitude information of shot throwing in real time. The sensor system is designed with modularized structure and installed in the digital shot which has almost the same size and weight as the standard shot for females. A multi-target and multi-parameter information acquisition platform is constructed to acquire kinematics information. With the help of the sensor system, the coaches can combine attitude information with kinematics data to analyze the shot throwing movements.

Sign in / Sign up

Export Citation Format

Share Document