Pedestrian dead reckoning system based on MEMS inertial sensor

LI Jin-feng; WANG Qing-hui; LIU Xiao-mei; CAO Shun; ZHANG Mu-yuan

doi:10.13873/J.1000-9787(2014)12-0085-03

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Pedestrian dead reckoning system based on MEMS inertial sensor

更新时间：2025-09-11

- Pedestrian dead reckoning system based on MEMS inertial sensor
- Vol. 33, Issue 12, Pages: 85-87+90(2014)
- 作者机构：
  
  沈阳化工大学信息工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2014)12-0085-03
  CLC： TP212
- Published：2014
- 稿件说明：
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[1]李金凤,王庆辉,刘晓梅,曹顺,张慕远.基于MEMS惯性传感器的行人航位推算系统[J].传感器与微系统,2014,33(12):85-87+90.

LI Jin-feng, WANG Qing-hui, LIU Xiao-mei, et al. Pedestrian dead reckoning system based on MEMS inertial sensor[J]. 2014, 33(12): 85-87+90.
[1]李金凤,王庆辉,刘晓梅,曹顺,张慕远.基于MEMS惯性传感器的行人航位推算系统[J].传感器与微系统,2014,33(12):85-87+90. DOI： 10.13873/J.1000-9787(2014)12-0085-03.

LI Jin-feng, WANG Qing-hui, LIU Xiao-mei, et al. Pedestrian dead reckoning system based on MEMS inertial sensor[J]. 2014, 33(12): 85-87+90. DOI： 10.13873/J.1000-9787(2014)12-0085-03.

摘要

提出一种基于低成本MEMS自包含传感器

能自主完成数据采集、数据处理的行人航位推算（PDR）系统。硬件平台集成三轴加速度计、三轴陀螺仪、三轴数字罗盘及气压计

不需任何额外设施。通过自包含传感器测量行人行走的步长、方位及高度

实现行人室内、外三维定位。采用加速度信号实现跨步探测和步长估计。利用互补滤波器融合加速度计、陀螺仪和数字罗盘数据

矫正陀螺仪的测量误差和磁场干扰对数字罗盘的影响

提高行人行走的方位精度。测试结果表明:系统的定位误差低于行进距离的4%

满足行人定位要求。验证了系统的有效性和可靠性。

Abstract

A pedestrian dead reckoning（PDR） system based on low-cost MEMS self-contained sensor is proposed

which can collect and process datas autonomously.Hardware platform integrates three-axis accelerometer

three-axis gyroscope

three-axis digital compass and barometer.no any additional facilities are required.Through self-contained sensor measure step-length

bearing and altitude of the pedestrian to achieve three-dimensional indoor and outdoor positioning.The acceleration signal is utilized to realize stride detection and step length estimation.A ’complementary filter is used to fuse datas from accelerometer

gyroscope and digital compass to correct measurement error of gyroscope and impact of magnetic field interference on digital compass and improve bearing precision.Test results illustrate that positioning error of the system is less than 4%of total traveled distance

which meets requirements of pedestrian positioning.The effectiveness and reliability of the system are validated.

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references

基于互补滤波器的四旋翼飞行器姿态解算 [J]. 梁延德,程敏,何福本,李航. 传感器与微系统 . 2011(11)

基于动作识别和步幅估计的步行者航位推算 [J]. 孙作雷,茅旭初,田蔚风,张相芬. 上海交通大学学报 . 2008(12)

In-plane dead reckoning with knee and waist attached gyroscopes [J] . Zexi Liu,Chukwuemeka Aduba,Chang-Hee Won. Measurement . 2011 (10)

Pedestrian navigation with high sensitivity GPS receivers and MEMS [J] . Gérard Lachapelle. Personal and Ubiquitous Computing . 2007 (6)

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