Pedestrian Dead Reckoning Method Based on Array IMU

Consumer-grade micro-electromechanical system (MEMS) inertial measurement unit (IMU) suffers from severe random noise, which prevents precisely pedestrian localization. To improve the accuracy of pedestrian localization based on consumer-grade MEMS IMU, we designed an array IMU comprising four consu...

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Bibliographic Details
Published in:IEEE sensors journal 2024-11, Vol.24 (22), p.37753-37763
Main Authors: Lin, Feifan, Cai, Qingzhong, Liu, Yu, Chen, Yanping, Huang, Jiangfeng, Peng, Hui
Format: Article
Language:English
Subjects:
Accelerometers
Algorithms
Array inertial measurement unit (IMU)
Arrays
Calibration
data fusion
Data integration
Dead reckoning
Gyroscopes
Inertial platforms
Localization
micro-electromechanical system (MEMS) IMU
Microelectromechanical systems
Micromechanical devices
Motion stability
Noise measurement
pedestrian dead reckoning (PDR)
Pedestrians
Random noise
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Summary:Consumer-grade micro-electromechanical system (MEMS) inertial measurement unit (IMU) suffers from severe random noise, which prevents precisely pedestrian localization. To improve the accuracy of pedestrian localization based on consumer-grade MEMS IMU, we designed an array IMU comprising four consumer-grade MEMS IMUs and proposed a pedestrian dead reckoning (PDR) method based on the array IMU. A weighted data fusion algorithm was introduced with a bias instability coefficient to improve the fusion accuracy, and the pedestrian localization algorithm was improved by incorporating pedestrian motion characteristics. A 1-km pedestrian localization experiment demonstrated that the proposed PDR method based on the array IMU achieved a horizontal positioning error of around 0.5%. Furthermore, the horizontal positioning error and noise coefficient of the array IMU were both reduced by 0.9 times compared to a single IMU, approaching the theoretical limit of 1 time.
ISSN:1530-437X
1558-1748
DOI:10.1109/JSEN.2024.3463668