Two-mode navigation method for low-cost inertial measurement unit-based indoor pedestrian navigation. (September 2016)

• Record Type: Journal Article
• Authors: Xu, Yuan; Chen, Xiyuan; Wang, Yimin
• Is Part Of: Simulation. Volume 92:Number 9(2016:Sep.)
• Page Start: 839
• Page End: 848
• Publication Date: 2016-09
• Subjects: Indoor pedestrian navigation -- inertial navigation system -- dead reckoning -- two mode; Computer simulation -- Periodicals; 003.3
• DOI: 10.1177/0037549716655220
• Languages: English
• ISSNs: 0037-5497

Abstract

The traditional inertial navigation system-based indoor pedestrian navigation method is not suitable to all the conditions, since its data fusion model is designed only for a single condition. In order to achieve better performance, a two-mode navigation method for indoor pedestrian navigation is proposed in this work, which includes the stance mode and the swing mode. When the person's foot is in a stance phase, the stance mode is used to correct the velocity error and yaw error. When the person's foot is in a swing phase, the swing mode works and only the yaw error is able to be corrected. For verification, a real indoor test has been done to assess the performance of the proposed two-mode method. The position root-mean-square error (RMSE) value is 1.9265 m during a 176-m traverse, and the RMSE of yaw is 0.20734 rad. These results demonstrate that our method is effective to reduce the error compared with the conventional schemes.