Method of improving pedestrian navigation performance based on chest card

doi:10.23919/JSEE.2024.000084

Journal of Systems Engineering and Electronics ›› 2024, Vol. 35 ›› Issue (4): 987-998.doi: 10.23919/JSEE.2024.000084

• CONTROL THEORY AND APPLICATION • Previous Articles

Method of improving pedestrian navigation performance based on chest card

Hao CHENG¹(), Shuang GAO¹(), Xiaowen CAI²(), Yuxuan WANG¹^,*(), Jie WANG³()

¹ School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, China
² School of Automation and Electronic Information , Xiangtan University, Xiangtan 411105, China
³ Navigation Guidance and Control, Graduate School of the Second Institute of China Aerospace Science and Industry Corporation, Beijing 100854, China

Received:2023-03-13 Accepted:2023-07-09 Online:2024-08-18 Published:2024-08-06
Contact: Yuxuan WANG E-mail:13225517091@163.com;gaoshuang@buaa.edu.cn;caixiaowen@xtu.edu.cn;sy2117129@buaa.edu.cn;wangquiler@163.com
About author:
CHENG Hao was born in 1998. He received his B.S. degree from Hefei University of Technology. He is pursuing his M.S. degree in Beihang University. His research interests are related to inertial navigation and indoor positioning. E-mail: 13225517091@163.com

GAO Shuang was born in 1977. She received her Ph.D. degree from Beihang University. She is an associate professor in Beihang University. Her research interests are related to fiber optic gyroscope and navigation system. E-mail: gaoshuang@buaa.edu.cn

CAI Xiaowen was born in 1981. She received her Ph.D. degree in optical engineering in Beihang University, China, in 2020. She is currently an associate professor with Xiangtan University. Her research interests are related to inertial navigation and integrated navigation. E-mail: caixiaowen@xtu.edu.cn

WANG Yuxuan was born in 1992. He received his B.S. degree from Military Ecomomy Academy. He is pursuing his M.S. degree in Beihang University. His research interests are related to inertial navigation. E-mail: sy2117129@buaa.edu.cn

WANG Jie was born in 1990. He received his M.E. degree from Graduate School of the Second Institute of China Aerospace Science and Industry Corporation, Beijing, China. His research interests are related to inertial navigation and integrated navigation. E-mail: wangquiler@163.com

Abstract

Abstract:

With the development of positioning technology, location services are constantly in demand by people. As a primary location service pedestrian navigation has two main approaches based on radio and inertial navigation. The pedestrian navigation based on radio is subject to environmental occlusion leading to the degradation of positioning accuracy. The pedestrian navigation based on micro-electro-mechanical system inertial measurement unit (MIMU) is less susceptible to environmental interference, but its errors dissipate over time. In this paper, a chest card pedestrian navigation improvement method based on complementary correction is proposed in order to suppress the error divergence of inertial navigation methods. To suppress attitude errors, optimal feedback coefficients are established by pedestrian motion characteristics. To extend navigation time and improve positioning accuracy, the step length in subsequent movements is compensated by the first step length. The experimental results show that the positioning accuracy of the proposed method is improved by more than 47% and 44% compared with the pure inertia-based method combined with step compensation and the traditional complementary filtering combined method with step compensation. The proposed method can effectively suppress the error dispersion and improve the positioning accuracy.

Key words: pedestrian navigation, micro-electro-mechanical system (MEMS), inertial navigation, complementary filtering

Hao CHENG, Shuang GAO, Xiaowen CAI, Yuxuan WANG, Jie WANG. Method of improving pedestrian navigation performance based on chest card[J]. Journal of Systems Engineering and Electronics, 2024, 35(4): 987-998.

Figures/Tables 13

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References 23

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Device	Performance	Value
Gyroscope	Zero bias stability/(°/s)	$ 0.04 $
	Scale factor nonlinearity/ppm	$ \leqslant 1\;000$
	Noise factor/$(\text{μg}/\sqrt {{\mathrm{Hz}}}) $	$ 100 $
Accelerometer	Zero bias stability/mg	$ 1 $
	Scale factor nonlinearity/ppm	$ \leqslant 3\;000$
	Noise factor/$(\text{μg}/\sqrt {{\mathrm{Hz}}}) $	$ 100$

Case	Distance traveled	PIWSLCS	TCFWSLC	ICFWSLC
1	32	2.48	1.86	1.07
2	44	4.95	5.72	2.01
3	46	3.94	3.75	2.08
4	48	4.08	3.61	1.29
5	45	6.55	3.98	2.05

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Method of improving pedestrian navigation performance based on chest card

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