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Sensors 2018, 18(8), 2592; https://doi.org/10.3390/s18082592

Use of Magnetic Field for Mitigating Gyroscope Errors for Indoor Pedestrian Positioning

School of Electronic Science, National University of Defense Technology, Hunan 410073, China
This manuscript is extension version of the conference paper: A heading error estimation approach based on improved Quasi-static magnetic Field detection. In Proceedings of the 2016 International Conference on Indoor Positioning and Indoor Navigation (IPIN), Alcala de Henares, Spain, 4–7 October 2016.
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Received: 4 July 2018 / Revised: 30 July 2018 / Accepted: 31 July 2018 / Published: 7 August 2018
(This article belongs to the Section Physical Sensors)
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Abstract

In the field of indoor pedestrian positioning, the improved Quasi-Static magnetic Field (iQSF) method has been proposed to estimate gyroscope biases in magnetically perturbed environments. However, this method is only effective when a person walks along straight-line paths. For other curved or more complex path patterns, the iQSF method would fail to detect the quasi-static magnetic field. To address this issue, a novel approach is developed for quasi-static magnetic field detection in foot-mounted Inertial Navigation System. The proposed method detects the quasi-static magnetic field using the rate of change in differences between the magnetically derived heading and the heading derived from gyroscope. In addition, to eliminate the distortions caused by system platforms and shoes, a magnetometer calibration method is developed and the calibration is transformed from three-dimensional to two-dimensional coordinate according to the motion model of a pedestrian. The experimental results demonstrate that the proposed method can provide superior performance in suppressing the heading errors with the comparison to iQSF method. View Full-Text
Keywords: gyroscope bias; indoor pedestrian positioning; magnetometer calibration; quasi-static magnetic field gyroscope bias; indoor pedestrian positioning; magnetometer calibration; quasi-static magnetic field
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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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Ma, M.; Song, Q.; Gu, Y.; Zhou, Z. Use of Magnetic Field for Mitigating Gyroscope Errors for Indoor Pedestrian Positioning. Sensors 2018, 18, 2592.

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