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ISPRS Int. J. Geo-Inf. 2016, 5(6), 98; doi:10.3390/ijgi5060098

Heading Estimation with Real-time Compensation Based on Kalman Filter Algorithm for an Indoor Positioning System

1,2,* , 2
and
2
1
School of Computer Science and Technology, China University of Mining and Technology, Xuzhou 221116, China
2
School of Environmental Science and Spatial Informatics, China University of Mining and Technology, Xuzhou 221116, China
*
Author to whom correspondence should be addressed.
Academic Editors: Georg Gartner, Haosheng Huang and Wolfgang Kainz
Received: 17 March 2016 / Revised: 26 May 2016 / Accepted: 6 June 2016 / Published: 20 June 2016
(This article belongs to the Special Issue Location-Based Services)
View Full-Text   |   Download PDF [5793 KB, uploaded 20 June 2016]   |  

Abstract

The problem of heading drift error using only low cost Micro-Electro-Mechanical (MEMS) Inertial-Measurement-Unit (IMU) has not been well solved. In this paper, a heading estimation method with real-time compensation based on Kalman filter has been proposed, abbreviated as KHD. For the KHD method, a unified heading error model is established for various predictable errors in magnetic compass for pedestrian navigation, and an effective method for solving the model parameters is proposed in the indoor environment with regular structure. In addition, error model parameters are solved by Kalman filtering algorithm with building geometry information in order to achieve real-time heading compensation. The experimental results show that the KHD method can not only effectively correct the original heading information, but also effectively inhibit the accumulation effect of positioning errors. The performance observed in a field experiment performed on the fourth floor of the School of Environmental Science and Spatial Informatics (SESSI) building on the China University of Mining and Technology (CUMT) campus confirms that apply KHD method to PDR(Pedestrian Dead Reckoning) algorithm can reliably achieve meter-level positioning using a low cost MEMS IMU only. View Full-Text
Keywords: indoor positioning; pedestrian dead reckoning; Kalman filter; heading error model indoor positioning; pedestrian dead reckoning; Kalman filter; heading error model
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Li, X.; Wang, J.; Liu, C. Heading Estimation with Real-time Compensation Based on Kalman Filter Algorithm for an Indoor Positioning System. ISPRS Int. J. Geo-Inf. 2016, 5, 98.

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