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Research on the Heading Calibration for Foot-Mounted Inertial Pedestrian-Positioning System Based on Accelerometer Attitude

College of Information and Communication Engineering, Harbin Engineering University, Harbin150001, China
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Electronics 2019, 8(12), 1405; https://doi.org/10.3390/electronics8121405
Received: 8 November 2019 / Revised: 21 November 2019 / Accepted: 23 November 2019 / Published: 25 November 2019
(This article belongs to the Special Issue Sensor-Based Navigation and Control with Applications)
Foot-mounted inertial pedestrian positioning (FIPP) plays an important role for facilitating pedestrian activities. It is suitable for indoor environment applications where global navigation satellite systems are unavailable such as during firefighting and military actions. However, the positioning error of FIPP can increase rapidly due to the measurement noise of the sensors. Zero Velocity Update (ZUPT) is an error correction method proposed to solve this accumulative error. However, the heading misalignment angle, which results in a continuous increase in the positioning error, cannot be estimated by ZUPT. In order to solve this problem, the improved ZUPT based on the Improved Attitude Algorithm (IAA) according to accelerometer measurements is proposed in this paper. When a pedestrian is in the stance phase, the horizontal attitude is estimated by using accelerometer measurements. According to the relationship between the heading misalignment angle and horizontal attitude, the heading misalignment angle is obtained by a series of mathematical derivations. By taking the velocity error and the attitude misalignment angle as observations, the heading misalignment angle and positioning error can be estimated and compensated for through the Kalman filter. Finally, we use MTI-G710 sensor manufactured by XSENS for the actual test and the experiment results show that the proposed method is effectively correct.
Keywords: Foot-mounted inertial pedestrian positioning (FIPP); heading calibration; accelerometer measurements; Zero Velocity Update (ZUPT) Foot-mounted inertial pedestrian positioning (FIPP); heading calibration; accelerometer measurements; Zero Velocity Update (ZUPT)
MDPI and ACS Style

Wang, Q.; Liu, K.; Sun, Z.; Cai, M.; Cheng, M. Research on the Heading Calibration for Foot-Mounted Inertial Pedestrian-Positioning System Based on Accelerometer Attitude. Electronics 2019, 8, 1405.

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