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Sensors 2018, 18(3), 741; doi:10.3390/s18030741

A Foot-Mounted Inertial Measurement Unit (IMU) Positioning Algorithm Based on Magnetic Constraint

School of Computer Science and Technology, China University of Mining and Technology, Xuzhou 221116, China
School of Environmental Science and Spatial Informatics, China University of Mining and Technology, Xuzhou 221116, China
Author to whom correspondence should be addressed.
Received: 23 January 2018 / Revised: 24 February 2018 / Accepted: 26 February 2018 / Published: 1 March 2018
(This article belongs to the Section Physical Sensors)


With the development of related applications, indoor positioning techniques have been more and more widely developed. Based on Wi-Fi, Bluetooth low energy (BLE) and geomagnetism, indoor positioning techniques often rely on the physical location of fingerprint information. The focus and difficulty of establishing the fingerprint database are in obtaining a relatively accurate physical location with as little given information as possible. This paper presents a foot-mounted inertial measurement unit (IMU) positioning algorithm under the loop closure constraint based on magnetic information. It can provide relatively reliable position information without maps and geomagnetic information and provides a relatively accurate coordinate for the collection of a fingerprint database. In the experiment, the features extracted by the multi-level Fourier transform method proposed in this paper are validated and the validity of loop closure matching is tested with a RANSAC-based method. Moreover, the loop closure detection results show that the cumulative error of the trajectory processed by the graph optimization algorithm is significantly suppressed, presenting a good accuracy. The average error of the trajectory under loop closure constraint is controlled below 2.15 m. View Full-Text
Keywords: FFT; magnetic field; graph optimization; foot-mounted IMU FFT; magnetic field; graph optimization; foot-mounted IMU

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Wang, Y.; Li, X.; Zou, J. A Foot-Mounted Inertial Measurement Unit (IMU) Positioning Algorithm Based on Magnetic Constraint. Sensors 2018, 18, 741.

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