Publication:
Increased Error Observability of an Inertial Pedestrian Navigation System by Rotating IMU

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dc.contributor.authorAbdulrahim, Ken_US
dc.contributor.authorHide, Cen_US
dc.contributor.authorMoore, Ten_US
dc.contributor.authorHill, Cen_US
dc.date.accessioned2024-05-29T03:25:08Z
dc.date.available2024-05-29T03:25:08Z
dc.date.issued2014
dc.description.abstractIndoor pedestrian navigation suffers from the unavailability of useful GNSS signals for navigation. Often a low-cost non-GNSS inertial sensor is used to navigate indoors. However, using only a low-cost inertial sensor for the system degrades its performance due to the low observability of errors affecting such low-cost sensors. Of particular concern is the heading drift error, caused primarily by the unobservability of z-axis gyro bias errors, which results in a huge positioning error when navigating for more than a few seconds. In this paper, the observability of this error is increased by proposing a method of rotating the inertial sensor on its y-axis. The results from a field trial for the proposed innovative method are presented. The method was performed by rotating the sensor mechanically-mounted on a shoe-on a single axis. The method was shown to increase the observability of z-axis gyro bias errors of a low-cost sensor. This is very significant because no other integrated measurements from other sensors are required to increase error observability. This should potentially be very useful for autonomous low-cost inertial pedestrian navigation systems that require a long period of navigation time.
dc.identifier.doi10.5614/j.eng.technol.sci.2014.46.2.7
dc.identifier.epage225
dc.identifier.issn2337-5779
dc.identifier.issue2
dc.identifier.scopusWOS:000215840100007
dc.identifier.spage211
dc.identifier.urihttps://oarep.usim.edu.my/handle/123456789/11881
dc.identifier.volume46
dc.languageEnglish
dc.language.isoen_USen_US
dc.publisherItb Journal Publen_US
dc.relation.ispartofJournal Of Engineering And Technological Sciences
dc.sourceWeb Of Science (ISI)
dc.subjecterror observabilityen_US
dc.subjectinertialen_US
dc.subjectlow-costen_US
dc.subjectpedestrian navigationen_US
dc.subjectsensoren_US
dc.titleIncreased Error Observability of an Inertial Pedestrian Navigation System by Rotating IMUen_US
dc.typeArticleen_US
dspace.entity.typePublication

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