PDR with a foot-mounted IMU and ramp detection

Jiménez Ruiz, Antonio Ramón; Seco Granja, Fernando; Zampella, Francisco; Prieto, Jose Carlos y Guevara, J. (2011). PDR with a foot-mounted IMU and ramp detection. "Sensors", v. 11 (n. 10); pp. 9393-9410. ISSN 14248220. https://doi.org/10.3390/s111009393.


Título: PDR with a foot-mounted IMU and ramp detection
  • Jiménez Ruiz, Antonio Ramón
  • Seco Granja, Fernando
  • Zampella, Francisco
  • Prieto, Jose Carlos
  • Guevara, J.
Tipo de Documento: Artículo
Título de Revista/Publicación: Sensors
Fecha: 2011
Volumen: 11
Escuela: Centro de Automática y Robótica (CAR) UPM-CSIC
Departamento: Otro
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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The localization of persons in indoor environments is nowadays an open problem. There are partial solutions based on the deployment of a network of sensors (Local Positioning Systems or LPS). Other solutions only require the installation of an inertial sensor on the person’s body (Pedestrian Dead-Reckoning or PDR). PDR solutions integrate the signals coming from an Inertial Measurement Unit (IMU), which usually contains 3 accelerometers and 3 gyroscopes. The main problem of PDR is the accumulation of positioning errors due to the drift caused by the noise in the sensors. This paper presents a PDR solution that incorporates a drift correction method based on detecting the access ramps usually found in buildings. The ramp correction method is implemented over a PDR framework that uses an Inertial Navigation algorithm (INS) and an IMU attached to the person’s foot. Unlike other approaches that use external sensors to correct the drift error, we only use one IMU on the foot. To detect a ramp, the slope of the terrain on which the user is walking, and the change in height sensed when moving forward, are estimated from the IMU. After detection, the ramp is checked for association with one of the existing in a database. For each associated ramp, a position correction is fed into the Kalman Filter in order to refine the INS-PDR solution. Drift-free localization is achieved with positioning errors below 2 meters for 1,000-meter-long routes in a building with a few ramps.

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ID de Registro: 13897
Identificador DC: http://oa.upm.es/13897/
Identificador OAI: oai:oa.upm.es:13897
Identificador DOI: 10.3390/s111009393
URL Oficial: http://www.mdpi.com/1424-8220/11/10/9393
Depositado por: Memoria Investigacion
Depositado el: 20 Dic 2012 18:42
Ultima Modificación: 21 Abr 2016 13:20
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