Repository logo
  • English
  • Català
  • Čeština
  • Deutsch
  • Español
  • Français
  • Gàidhlig
  • Italiano
  • Latviešu
  • Magyar
  • Nederlands
  • Polski
  • Português
  • Português do Brasil
  • Srpski (lat)
  • Suomi
  • Svenska
  • Türkçe
  • Tiếng Việt
  • Қазақ
  • বাংলা
  • हिंदी
  • Ελληνικά
  • Српски
  • Yкраї́нська
  • Log In
    New user? Click here to register.Have you forgotten your password?
Repository logo
    Communities & Collections
    Research Outputs
    Fundings & Projects
    People
    Statistics
  • English
  • Català
  • Čeština
  • Deutsch
  • Español
  • Français
  • Gàidhlig
  • Italiano
  • Latviešu
  • Magyar
  • Nederlands
  • Polski
  • Português
  • Português do Brasil
  • Srpski (lat)
  • Suomi
  • Svenska
  • Türkçe
  • Tiếng Việt
  • Қазақ
  • বাংলা
  • हिंदी
  • Ελληνικά
  • Српски
  • Yкраї́нська
  • Log In
    New user? Click here to register.Have you forgotten your password?
  1. Home
  2. Staff Publications
  3. Other Publications
  4. Integrating Low Cost IMU With Building Heading In Indoor Pedestrian Navigation
 
  • Details
Options

Integrating Low Cost IMU With Building Heading In Indoor Pedestrian Navigation

Journal
The Journal of Global Positioning System
Date Issued
2011
Author(s)
Khairi Abdul Rahim 
Universiti Sains Islam Malaysia 
Chris Hide
Terry Moore
Chris Hill
DOI
10.5081/jgps.10.1.30
Abstract
This paper proposes an integration of ‘building heading’ information with ZUPT in a Kalman filter, using a shoe mounted IMU approach. This is done to reduce heading drift error, which remains a major problem in a standalone shoe mounted pedestrian navigation system. The standalone system used in this paper consists of only single low cost MEMS IMU that contains 3-axis accelerometers and gyros. Several trials represented by regular and irregular walking trials were undertaken inside typical public buildings. The results were then compared with HSGPS solution and IMU+ZUPT only solution. Based on these trials, an average return position error of below 5 m was consistently achieved for an average time of 24 minutes – at times as long as 40 minutes - using only a low cost MEMS IMU.
Subjects

ZUPT,

Kalman Filter,

Pedestrian Navigation...

MEMS IMU,

Heading Drift

File(s)
Loading...
Thumbnail Image
Name

Integrating Low Cost IMU With Building Heading In Indoor Pedestrian Navigation.pdf

Description
Integrating Low Cost IMU With Building Heading In Indoor Pedestrian Navigation
Size

433.29 KB

Format

Adobe PDF

Checksum

(MD5):c77c5d515d4e3a7c062ed9f7542a5e3a

Welcome to SRP

"A platform where you can access full-text research
papers, journal articles, conference papers, book
chapters, and theses by USIM researchers and students.”

Contact:
  • ddms@usim.edu.my
  • 06-798 6206 / 6221
  • USIM Library
Follow Us:
READ MORE Copyright © 2024 Universiti Sains Islam Malaysia