An improved INS/PDR/UWB integrated positioning method for indoor foot-mounted pedestrians
ISSN: 0260-2288
Article publication date: 28 November 2018
Issue publication date: 17 May 2019
Abstract
Purpose
The purpose of this paper is to relate to the real-time navigation and tracking of pedestrians in a closed environment. To restrain accumulated error of low-cost microelectromechanical system inertial navigation system and adapt to the real-time navigation of pedestrians at different speeds, the authors proposed an improved inertial navigation system (INS)/pedestrian dead reckoning (PDR)/ultra wideband (UWB) integrated positioning method for indoor foot-mounted pedestrians.
Design/methodology/approach
This paper proposes a self-adaptive integrated positioning algorithm that can recognize multi-gait and realize a high accurate pedestrian multi-gait indoor positioning. First, the corresponding gait method is used to detect different gaits of pedestrians at different velocities; second, the INS/PDR/UWB integrated system is used to get the positioning information. Thus, the INS/UWB integrated system is used when the pedestrian moves at normal speed; the PDR/UWB integrated system is used when the pedestrian moves at rapid speed. Finally, the adaptive Kalman filter correction method is adopted to modify system errors and improve the positioning performance of integrated system.
Findings
The algorithm presented in this paper improves performance of indoor pedestrian integrated positioning system from three aspects: in the view of different pedestrian gaits at different speeds, the zero velocity detection and stride frequency detection are adopted on the integrated positioning system. Further, the accuracy of inertial positioning systems can be improved; the attitude fusion filter is used to obtain the optimal quaternion and improve the accuracy of INS positioning system and PDR positioning system; because of the errors of adaptive integrated positioning system, the adaptive filter is proposed to correct errors and improve integrated positioning accuracy and stability. The adaptive filtering algorithm can effectively restrain the divergence problem caused by outliers. Compared to the KF algorithm, AKF algorithm can better improve the fault tolerance and precision of integrated positioning system.
Originality/value
The INS/PDR/UWB integrated system is built to track pedestrian position and attitude. Finally, an adaptive Kalman filter is used to improve the accuracy and stability of integrated positioning system.
Keywords
Acknowledgements
This work was supported in part by Six Talent Peaks Project in Jiangsu Province (No. GDZB-138), the 111 Project (B12018) and Natural Science Foundation of China (51405198). In addition, this work was supported in part by National First-class Discipline Program of Food Science and Technology (JUFSTR20180302) and China Postdoctoral Science Foundation (2016M590406).
The authors gratefully acknowledge support from Xiangpeng Zhuang, Pengsong Zhang, Zhengqing Zhao, Gaowen Zhu, Yuanyuan Tang. They have provided great help in literature review, discussion, paper revision and experimental test.
Citation
Fan, Q., Jia, J., Pan, P., Zhang, H. and Sun, Y. (2019), "An improved INS/PDR/UWB integrated positioning method for indoor foot-mounted pedestrians", Sensor Review, Vol. 39 No. 3, pp. 318-331. https://doi.org/10.1108/SR-04-2018-0090
Publisher
:Emerald Publishing Limited
Copyright © 2018, Emerald Publishing Limited