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Open AccessArticle

Smartphone Heading Correction Based on Gravity Assisted and Middle Time Simulated-Zero Velocity Update Method

1
Navigation Research Center (NRC), Nanjing University of Aeronautics and Astronautics (NUAA), Nanjing 210016, China
2
State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China
*
Author to whom correspondence should be addressed.
Sensors 2018, 18(10), 3349; https://doi.org/10.3390/s18103349
Received: 20 August 2018 / Revised: 2 October 2018 / Accepted: 3 October 2018 / Published: 7 October 2018
(This article belongs to the Collection Positioning and Navigation)
Electronic appliances and ferromagnetic materials can be easily found in any building in urban environment. A steady magnetic environment and a pure value of geomagnetic field for calculating the heading of the smartphone in case of pedestrian walking indoors is hard to obtain. Therefore, an independent inertial heading correction algorithm without involving magnetic field but only making full use of the embedded Micro-Electro-Mechanical System (MEMS) Inertial measurement unit (IMU) device in the smartphone is presented in this paper. Aiming at the strict navigation requirements of pedestrian smartphone positioning, the algorithm focused in this paper consists of Gravity Assisted (GA) and Middle Time Simulated-Zero Velocity Update (MTS-ZUPT) methods. With the help of GA method, the different using-mode of the smartphone can be judged based on the data from the gravity sensor of smartphone. Since there is no zero-velocity status for handheld smartphone, the MTS-ZUPT algorithm is proposed based on the idea of Zero Velocity Update (ZUPT) algorithm. A Kalman Filtering algorithm is used to restrain the heading divergence at the middle moment of two steps. The walking experimental results indicate that the MTS-ZUPT algorithm can effectively restrain the heading error diffusion without the assistance of geomagnetic heading. When the MTS-ZUPT method was integrated with GA method, the smartphone navigation system can autonomously judge the using-mode and compensate the heading errors. The pedestrian positioning accuracy is significantly improved and the walking error is only 1.4% to 2.0% of the walking distance in using-mode experiments of the smartphone. View Full-Text
Keywords: gravity assisted; simulate-zero velocity update; smartphone navigation; dead reckoning gravity assisted; simulate-zero velocity update; smartphone navigation; dead reckoning
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MDPI and ACS Style

Zeng, Q.; Zeng, S.; Liu, J.; Meng, Q.; Chen, R.; Huang, H. Smartphone Heading Correction Based on Gravity Assisted and Middle Time Simulated-Zero Velocity Update Method. Sensors 2018, 18, 3349.

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