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Open AccessArticle

Robust Pedestrian Dead Reckoning Based on MEMS-IMU for Smartphones

GNSS Research Center, Wuhan University, 129 Luoyu Road, Wuhan 430079, China
Author to whom correspondence should be addressed.
Sensors 2018, 18(5), 1391;
Received: 7 February 2018 / Revised: 25 April 2018 / Accepted: 26 April 2018 / Published: 1 May 2018
(This article belongs to the Collection Positioning and Navigation)
This paper proposes a pedestrian dead reckoning (PDR) algorithm based on the strap-down inertial navigation system (SINS) using the gyros, accelerometers, and magnetometers on smartphones. In addition to using a gravity vector, magnetic field vector, and quasi-static attitude, this algorithm employs a gait model and motion constraint to provide pseudo-measurements (i.e., three-dimensional velocity and two-dimensional position increment) instead of using only pseudo-velocity measurement for a more robust PDR algorithm. Several walking tests show that the advanced algorithm can maintain good position estimation compare to the existing SINS-based PDR method in the four basic smartphone positions, i.e., handheld, calling near the ear, swaying in the hand, and in a pants pocket. In addition, we analyze the navigation performance difference between the advanced algorithm and the existing gait-model-based PDR algorithm from three aspects, i.e., heading estimation, position estimation, and step detection failure, in the four basic phone positions. Test results show that the proposed algorithm achieves better position estimation when a pedestrian holds a smartphone in a swaying hand and step detection is unsuccessful. View Full-Text
Keywords: SINS; PDR; MEMS-IMU; mobile devices; indoor positioning SINS; PDR; MEMS-IMU; mobile devices; indoor positioning
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MDPI and ACS Style

Kuang, J.; Niu, X.; Chen, X. Robust Pedestrian Dead Reckoning Based on MEMS-IMU for Smartphones. Sensors 2018, 18, 1391.

AMA Style

Kuang J, Niu X, Chen X. Robust Pedestrian Dead Reckoning Based on MEMS-IMU for Smartphones. Sensors. 2018; 18(5):1391.

Chicago/Turabian Style

Kuang, Jian; Niu, Xiaoji; Chen, Xingeng. 2018. "Robust Pedestrian Dead Reckoning Based on MEMS-IMU for Smartphones" Sensors 18, no. 5: 1391.

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