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Sensors 2019, 19(2), 420; https://doi.org/10.3390/s19020420

Indoor Positioning System Based on Chest-Mounted IMU

1
Graduate School of Information Science and Electrical Engineering, Kyushu University, Fukuoka 819-0395, Japan
2
Library, Kyushu University, Fukuoka 819-0395, Japan
3
Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka 819-0395, Japan
*
Author to whom correspondence should be addressed.
Received: 4 January 2019 / Revised: 15 January 2019 / Accepted: 16 January 2019 / Published: 21 January 2019
(This article belongs to the Special Issue Sensor Fusion and Novel Technologies in Positioning and Navigation)
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Abstract

Demand for indoor navigation systems has been rapidly increasing with regard to location-based services. As a cost-effective choice, inertial measurement unit (IMU)-based pedestrian dead reckoning (PDR) systems have been developed for years because they do not require external devices to be installed in the environment. In this paper, we propose a PDR system based on a chest-mounted IMU as a novel installation position for body-suit-type systems. Since the IMU is mounted on a part of the upper body, the framework of the zero-velocity update cannot be applied because there are no periodical moments of zero velocity. Therefore, we propose a novel regression model for estimating step lengths only with accelerations to correctly compute step displacement by using the IMU data acquired at the chest. In addition, we integrated the idea of an efficient map-matching algorithm based on particle filtering into our system to improve positioning and heading accuracy. Since our system was designed for 3D navigation, which can estimate position in a multifloor building, we used a barometer to update pedestrian altitude, and the components of our map are designed to explicitly represent building-floor information. With our complete PDR system, we were awarded second place in 10 teams for the IPIN 2018 Competition Track 2, achieving a mean error of 5.2 m after the 800 m walking event. View Full-Text
Keywords: pedestrian dead reckoning; inertial navigation; accelerometers; gyroscopes; barometers; map matching; particle filters pedestrian dead reckoning; inertial navigation; accelerometers; gyroscopes; barometers; map matching; particle filters
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Lu, C.; Uchiyama, H.; Thomas, D.; Shimada, A.; Taniguchi, R.-I. Indoor Positioning System Based on Chest-Mounted IMU. Sensors 2019, 19, 420.

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