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Sensors 2016, 16(10), 1578; doi:10.3390/s16101578

A Novel Zero Velocity Interval Detection Algorithm for Self-Contained Pedestrian Navigation System with Inertial Sensors

School of Automation, Beijing Institute of Technology, Beijing 100081, China
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Author to whom correspondence should be addressed.
Academic Editor: Jörg F. Wagner
Received: 14 July 2016 / Revised: 3 September 2016 / Accepted: 21 September 2016 / Published: 24 September 2016
(This article belongs to the Special Issue Inertial Sensors and Systems 2016)
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Abstract

Zero velocity update (ZUPT) plays an important role in pedestrian navigation algorithms with the premise that the zero velocity interval (ZVI) should be detected accurately and effectively. A novel adaptive ZVI detection algorithm based on a smoothed pseudo Wigner–Ville distribution to remove multiple frequencies intelligently (SPWVD-RMFI) is proposed in this paper. The novel algorithm adopts the SPWVD-RMFI method to extract the pedestrian gait frequency and to calculate the optimal ZVI detection threshold in real time by establishing the function relationships between the thresholds and the gait frequency; then, the adaptive adjustment of thresholds with gait frequency is realized and improves the ZVI detection precision. To put it into practice, a ZVI detection experiment is carried out; the result shows that compared with the traditional fixed threshold ZVI detection method, the adaptive ZVI detection algorithm can effectively reduce the false and missed detection rate of ZVI; this indicates that the novel algorithm has high detection precision and good robustness. Furthermore, pedestrian trajectory positioning experiments at different walking speeds are carried out to evaluate the influence of the novel algorithm on positioning precision. The results show that the ZVI detected by the adaptive ZVI detection algorithm for pedestrian trajectory calculation can achieve better performance. View Full-Text
Keywords: pedestrian navigation system (PNS); adaptive ZVI detection; SPWVD; gait frequency; ZUPT pedestrian navigation system (PNS); adaptive ZVI detection; SPWVD; gait frequency; ZUPT
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Tian, X.; Chen, J.; Han, Y.; Shang, J.; Li, N. A Novel Zero Velocity Interval Detection Algorithm for Self-Contained Pedestrian Navigation System with Inertial Sensors. Sensors 2016, 16, 1578.

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