Open AccessAn Improving Pedestrian Navigation Method Based on Low Cost AHRS
Author(s) -
Yu Wang,
Zhiqiang Wu,
Xinhua Zhu
Publication year - 2017
Publication title -
destech transactions on engineering and technology research
Language(s) - English
Resource type - Journals
ISSN - 2475-885X
DOI - 10.12783/dtetr/icca2016/5969
Subject(s) - attitude and heading reference system , compass , observability , inertial navigation system , kalman filter , inertial measurement unit , heading (navigation) , computer science , control theory (sociology) , dead reckoning , engineering , simulation , artificial intelligence , global positioning system , mathematics , orientation (vector space) , aerospace engineering , geography , telecommunications , geometry , cartography , control (management)
Aiming at the problem of the poor observability for the yaw measurement of the foot-mounted attitude heading reference systems (AHRS), this paper presents an indoor pedestrian navigation method using low cost foot-mounted AHRS and waist-mounted compass. Based on this mode, the yaw measured from the waist-mounted compass is used to calculate the attitude transformation matrix for the foot-mounted AHRS, and then the Kalman filter (KF) is used to restrict the error of the inertial sensors when the person is in a stance phase during walk. The experimental results showed that the mean error of the position had been reduced by about 28% when compared with the method without the waist-mounted compass, which demonstrated the effectiveness of the proposed method.
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