Research on pedestrian dead reckoning based on improved heading estimation

SUN Yan; FAN Qi-gao; SUN Bi-wen; ZHUANG Xiang-peng

doi:10.13873/J.1000-9787(2018)01-0029-03

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Research on pedestrian dead reckoning based on improved heading estimation

更新时间：2025-09-11

- Research on pedestrian dead reckoning based on improved heading estimation
- Issue 1, Pages: 29-31+34(2018)
- 作者机构：
  
  江南大学物联网工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2018)01-0029-03
  CLC： TN713;TP212
- Published：2018
- 稿件说明：
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SUN Yan, FAN Qi-gao, SUN Bi-wen, et al. Research on pedestrian dead reckoning based on improved heading estimation[J]. 2018, (1): 29-31+34.
DOI：

SUN Yan, FAN Qi-gao, SUN Bi-wen, et al. Research on pedestrian dead reckoning based on improved heading estimation[J]. 2018, (1): 29-31+34. DOI： 10.13873/J.1000-9787(2018)01-0029-03.

摘要

针对行人室内定位精度不高的问题

提出的算法包括步频估计、步长估计和航向估计。改进的航向估计算法基于四元数姿态解算并利用扩展卡尔曼滤波(EKF)修正航向角的偏差。基于提出的定位算法

构建了以惯性测量单元为核心的实验平台

结果表明:算法具有可行性

定位的置信度达到98.28%

满足实际需求。

Abstract

Aiming at problem of low indoor positioning precision of pedestrian

propose a new algorithm for pedestrian heading-estimation based on improved heading estimation. The algorithm includes the stride frequency estimation

the step length and heading estimation. The improved heading estimation algorithm is based on the quaternion attitude calculation and uses the extended Kalman filtering（EKF） to correct deviation of the heading angle. Based on the proposed algorithm

the experimental platform using inertial measurement unit as core is built.The results show that the proposed algorithm is feasible

and the confidence of positioning is 98. 28 %

which meets actual demand.

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