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A Pedestrian Dead-Reckoning System for Walking and Marking Time Mixed Movement Using an SHSs Scheme and a Foot-Mounted IMU
Wu, Yuan1,2; Zhu, Haibing1; Du, Qingxiu1; Tang, Shuming1
Source PublicationIEEE Sensors Journal
2019-03
Volume19Issue:5Pages:1661-1671
Subtype研究论文
Abstract

A pedestrian dead-reckoning (PDR) system based on micro-inertial technology usually uses a sensor integrated with a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer and is attached to the person’s body (usually on the foot) to acquire the trajectory of the pedestrian. Although a variety of PDR system solutions have been proposed, the PDR solution for marking time and walking hybrid motions has not been formally proposed and solved. Therefore, in this paper, we propose the PDR system using a step-and-heading system scheme for marking time and walking hybrid motion. The main contributions include: 1) an adaptive gait partitioning method for walking and marking time hybrid motions is proposed; 2) a motion classification algorithm that uses a multi-layer perceptron to classify whether each step is walking or marking time is proposed; and 3) a new step length estimator based on several currently proposed models is proposed. Finally, an extended Kalman filtering algorithm combining heuristic heading reduction, flat-ground hypothesis, and cardinal heading aided inertial navigation techniques is used for heading estimation. We evaluate the effectiveness of the proposed algorithm through experiments, and the experimental results show that the average position error of the two groups of test experiments based on marking time and walking hybrid motion is 0.42% and 0.6%, respectively.

KeywordPedestrian Dead-reckoning Imu Step And Heading System Gait Partitioning Motion Classification Ekf Filtering Marking Time Trajectory Estimation
Indexed BySCIE
Language英语
WOS IDWOS:000458184000007
Citation statistics
Cited Times:2[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23585
Collection学术期刊
智能制造技术与系统研究中心
Corresponding AuthorDu, Qingxiu
Affiliation1.Institute of Automation, Chinese Academy of Sciences
2.University of Chinese Academy of Sciences
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Wu, Yuan,Zhu, Haibing,Du, Qingxiu,et al. A Pedestrian Dead-Reckoning System for Walking and Marking Time Mixed Movement Using an SHSs Scheme and a Foot-Mounted IMU[J]. IEEE Sensors Journal,2019,19(5):1661-1671.
APA Wu, Yuan,Zhu, Haibing,Du, Qingxiu,&Tang, Shuming.(2019).A Pedestrian Dead-Reckoning System for Walking and Marking Time Mixed Movement Using an SHSs Scheme and a Foot-Mounted IMU.IEEE Sensors Journal,19(5),1661-1671.
MLA Wu, Yuan,et al."A Pedestrian Dead-Reckoning System for Walking and Marking Time Mixed Movement Using an SHSs Scheme and a Foot-Mounted IMU".IEEE Sensors Journal 19.5(2019):1661-1671.
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