Accurate pedestrian indoor navigation by tightly coupling foot-mounted IMU and RFID measurements

Jiménez Ruiz, Antonio Ramón and Seco Granja, Fernando and Prieto Honorato, José Carlos and Guevara Rosas, Jorge I. (2012). Accurate pedestrian indoor navigation by tightly coupling foot-mounted IMU and RFID measurements. "IEEE Transactions on Instrumentation and Measurement", v. 61 (n. 1); pp. 178-189. ISSN 0018-9456. https://doi.org/10.1109/TIM.2011.2159317.

Description

Title: Accurate pedestrian indoor navigation by tightly coupling foot-mounted IMU and RFID measurements
Author/s:
  • Jiménez Ruiz, Antonio Ramón
  • Seco Granja, Fernando
  • Prieto Honorato, José Carlos
  • Guevara Rosas, Jorge I.
Item Type: Article
Título de Revista/Publicación: IEEE Transactions on Instrumentation and Measurement
Date: 2012
ISSN: 0018-9456
Volume: 61
Subjects:
Faculty: Centro de Automática y Robótica (CAR) UPM-CSIC
Department: Otro
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

We present a new method to accurately locate persons indoors by fusing inertial navigation system (INS) techniques with active RFID technology. A foot-mounted inertial measuring units (IMUs)-based position estimation method, is aided by the received signal strengths (RSSs) obtained from several active RFID tags placed at known locations in a building. In contrast to other authors that integrate IMUs and RSS with a loose Kalman filter (KF)-based coupling (by using the residuals of inertial- and RSS-calculated positions), we present a tight KF-based INS/RFID integration, using the residuals between the INS-predicted reader-to-tag ranges and the ranges derived from a generic RSS path-loss model. Our approach also includes other drift reduction methods such as zero velocity updates (ZUPTs) at foot stance detections, zero angular-rate updates (ZARUs) when the user is motionless, and heading corrections using magnetometers. A complementary extended Kalman filter (EKF), throughout its 15-element error state vector, compensates the position, velocity and attitude errors of the INS solution, as well as IMU biases. This methodology is valid for any kind of motion (forward, lateral or backward walk, at different speeds), and does not require an offline calibration for the user gait. The integrated INS+RFID methodology eliminates the typical drift of IMU-alone solutions (approximately 1% of the total traveled distance), resulting in typical positioning errors along the walking path (no matter its length) of approximately 1.5 m.

More information

Item ID: 21270
DC Identifier: https://oa.upm.es/21270/
OAI Identifier: oai:oa.upm.es:21270
DOI: 10.1109/TIM.2011.2159317
Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5953513&tag=1
Deposited by: Memoria Investigacion
Deposited on: 05 Nov 2013 18:10
Last Modified: 21 Apr 2016 11:25
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