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Integrating Low Cost IMU With Building Heading In Indoor Pedestrian Navigation

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dc.contributor.authorKhairi AbdulRahimen_US
dc.contributor.authorChris Hideen_US
dc.contributor.authorTerry Mooreen_US
dc.contributor.authorChris Hillen_US
dc.date.accessioned2024-05-28T04:23:12Z
dc.date.available2024-05-28T04:23:12Z
dc.date.issued2011
dc.date.submitted--
dc.descriptionJournal of Global Positioning Systems (2011) Vol.10, No.1 :30-38en_US
dc.description.abstractThis 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.en_US
dc.identifier.doi10.5081/jgps.10.1.30
dc.identifier.epage38
dc.identifier.issue1
dc.identifier.spage30
dc.identifier.urihttp://www.mecinca.net/papers/DRONES_IMU/JoGPS_v10n1p30-38.pdf
dc.identifier.urihttps://oarep.usim.edu.my/handle/123456789/5473
dc.identifier.volume10
dc.language.isoen_USen_US
dc.publisherSpringerOpenen_US
dc.relation.ispartofThe Journal of Global Positioning Systemen_US
dc.subjectZUPT,en_US
dc.subjectKalman Filter,en_US
dc.subjectPedestrian Navigation,en_US
dc.subjectMEMS IMU,en_US
dc.subjectHeading Driften_US
dc.titleIntegrating Low Cost IMU With Building Heading In Indoor Pedestrian Navigationen_US
dc.typeArticleen_US
dspace.entity.typePublication

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