Publication

Improvement of Orientation Estimation in Pedestrian Navigation by Compensation of Magnetic Disturbances

Phillip Tomé, Okan Yalak
2008
Journal Articles

Abstract

Over the last few years there has been a growing interest in the domain of pedestrian navigation, stimulated by the increasing demand for Location Based Services. Pedestrian Dead Reckoning (PDR) based on MEMS sensors has been at the heart of most high-end hybrid solutions devised up to now. In PDR mode, the positioning accuracy is shaped by the individual accuracies in step length and azimuth estimation. This paper will focus on how to improve the latter. Measurements from three single axis MEMS gyroscopes, accelerometers, and magnetometers are merged in an Adaptive Extended Kalman Filter to estimate the absolute orientation of a pedestrian. Enhanced performance is accomplished by the online calibration of the gyroscope and accelerometer biases and through the compensation of magnetic perturbations that disturb the magnetometer measurements. Details of this orientation algorithm and assessment of its effectiveness under different testing conditions are presented in this paper.

Official source

https://infoscience.epfl.ch/entities/publication/007ce31d-41cb-425a-a2a9-106c2a82f66b

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Phillip Tomé, Okan Yalak
2008
Journal Articles

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/007ce31d-41cb-425a-a2a9-106c2a82f66b

About this result

Related concepts (32)

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An inertial navigation system (INS) is a navigation device that uses motion sensors (accelerometers), rotation sensors (gyroscopes) and a computer to continuously calculate by dead reckoning the position, the orientation, and the velocity (direction and speed of movement) of a moving object without the need for external references. Often the inertial sensors are supplemented by a barometric altimeter and sometimes by magnetic sensors (magnetometers) and/or speed measuring devices.

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