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Sensors 2018, 18(6), 1874;

An Improved Heuristic Drift Elimination Method for Indoor Pedestrian Positioning

School of Automation, Beijing Institute of Technology, Beijing 100081, China
Author to whom correspondence should be addressed.
Received: 15 April 2018 / Revised: 1 June 2018 / Accepted: 3 June 2018 / Published: 7 June 2018
(This article belongs to the Special Issue Smart Sensors and Smart Structures)
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Indoor positioning is currently a research hotspot. In recent years, Pedestrian Dead Reckoning (PDR) has been widely used in indoor positioning. However, the positioning error caused by heading drifts will accumulate as the walking distance increases, so some methods need to be used to correct the heading angle. Heuristic Drift Elimination (HDE) is an effective heading correction algorithm, which only uses the information of a building’s dominant directions to reduce the heading error, but it does not apply to the non-dominant direction condition. In this paper, we propose a heading drift suppressing method for the limitation of HDE. Firstly, the method constructs membership functions to judge the pedestrian’s motion according to the result of comprehensive evaluation. Then, it further determines by a threshold condition whether the pedestrian walks along the dominant directions, and a heading error measurement is introduced for heading correction. Finally, we verify by experiments that the proposed method can correct heading angles properly for different conditions, which indicates an adaptability to the environment. View Full-Text
Keywords: PDR; heading correction; membership function; dominant direction PDR; heading correction; membership function; dominant direction

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Deng, Z.; Cao, Y.; Wang, P.; Wang, B. An Improved Heuristic Drift Elimination Method for Indoor Pedestrian Positioning. Sensors 2018, 18, 1874.

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