PDR-INS-WiFi Integration Based on Handheld Devices for Indoor Pedestrian NavigationReport as inadecuate




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1

Department of Geomatics Engineering, University of Calgary, Calgary, AB T2N 1N4, Canada

2

GNSS Research Center, Wuhan University, 129 Luoyu Road, Wuhan 430079, China





*

Author to whom correspondence should be addressed.



Academic Editor: Stefano Mariani

Abstract Providing an accurate and practical navigation solution anywhere with portable devices, such as smartphones, is still a challenge, especially in environments where global navigation satellite systems GNSS signals are not available or are degraded. This paper proposes a new algorithm that integrates inertial navigation system INS and pedestrian dead reckoning PDR to combine the advantages of both mechanizations for micro-electro-mechanical systems MEMS sensors in pedestrian navigation applications. In this PDR-INS integration algorithm, a pseudo-velocity-vector, which is composed of the PDR-derived forward speed and zero lateral and vertical speeds from non-holonomic constraints NHC, works as an update for the INS to limit the velocity errors. To further limit the drift of MEMS inertial sensors, trilateration-based WiFi positions with small variances are also selected as updates for the PDR-INS integrated system. The experiments illustrate that positioning error is decreased by 60%–75% by using the proposed PDR-INS integrated MEMS solution when compared with PDR. The positioning error is further decreased by 15%–55% if the proposed PDR-INS-WiFi integrated solution is implemented. The average accuracy of the proposed PDR-INS-WiFi integration algorithm achieves 4.5 m in indoor environments. View Full-Text

Keywords: PDR-INS-WiFi integration; PDR-INS integration; pseudo-velocity update; indoor pedestrian navigation; smartphone; motion constraints PDR-INS-WiFi integration; PDR-INS integration; pseudo-velocity update; indoor pedestrian navigation; smartphone; motion constraints





Author: Yuan Zhuang 1,* , Haiyu Lan 1, You Li 1,2 and Naser El-Sheimy 1

Source: http://mdpi.com/



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