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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
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
被引频次:21[WOS]   [WOS记录]     [WOS相关记录]
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.
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