Knowledge Commons of Institute of Automation,CAS
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 | |
发表期刊 | IEEE Sensors Journal |
2019-03 | |
卷号 | 19期号:5页码:1661-1671 |
文章类型 | 研究论文 |
摘要 | 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. |
关键词 | Pedestrian Dead-reckoning Imu Step And Heading System Gait Partitioning Motion Classification Ekf Filtering Marking Time Trajectory Estimation |
收录类别 | SCIE |
语种 | 英语 |
WOS记录号 | WOS:000458184000007 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/23585 |
专题 | 学术期刊 智能制造技术与系统研究中心 |
通讯作者 | Du, Qingxiu |
作者单位 | 1.Institute of Automation, Chinese Academy of Sciences 2.University of Chinese Academy of Sciences |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 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. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
A Pedestrian Dead-Re(2054KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论