PDR/INS/WiFi Integration Based on Handheld Devices for Indoor Pedestrian Navigation
AbstractProviding an accurate and practical navigation solution anywhere with portable devices, such as smartphones, is still a challenge, especially in environments where global navigation satellite systems (GNSS) signals are not available or are degraded. This paper proposes a new algorithm that integrates inertial navigation system (INS) and pedestrian dead reckoning (PDR) to combine the advantages of both mechanizations for micro-electro-mechanical systems (MEMS) sensors in pedestrian navigation applications. In this PDR/INS integration algorithm, a pseudo-velocity-vector, which is composed of the PDR-derived forward speed and zero lateral and vertical speeds from non-holonomic constraints (NHC), works as an update for the INS to limit the velocity errors. To further limit the drift of MEMS inertial sensors, trilateration-based WiFi positions with small variances are also selected as updates for the PDR/INS integrated system. The experiments illustrate that positioning error is decreased by 60%–75% by using the proposed PDR/INS integrated MEMS solution when compared with PDR. The positioning error is further decreased by 15%–55% if the proposed PDR/INS/WiFi integrated solution is implemented. The average accuracy of the proposed PDR/INS/WiFi integration algorithm achieves 4.5 m in indoor environments. View Full-Text
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Zhuang, Y.; Lan, H.; Li, Y.; El-Sheimy, N. PDR/INS/WiFi Integration Based on Handheld Devices for Indoor Pedestrian Navigation. Micromachines 2015, 6, 793-812.
Zhuang Y, Lan H, Li Y, El-Sheimy N. PDR/INS/WiFi Integration Based on Handheld Devices for Indoor Pedestrian Navigation. Micromachines. 2015; 6(6):793-812.Chicago/Turabian Style
Zhuang, Yuan; Lan, Haiyu; Li, You; El-Sheimy, Naser. 2015. "PDR/INS/WiFi Integration Based on Handheld Devices for Indoor Pedestrian Navigation." Micromachines 6, no. 6: 793-812.