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Integration of GPS and low cost INS for pedestrian navigation aided by building layout

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In outdoor environments, GPS is often used for pedestrian navigation by utilizing its sig-nals for position computation, but in indoor or semi-obstructed environments, GPS signals are often unavailable. Therefore, pedestrian navigation for these environments should be realized by the integration of GPS and inertial navigation system (INS). However, the lowcost INS could induce errors that may result in a large position drift. The problem can be minimized by mounting the sensors on the pedestrian’s foot, using zero velocity update (ZUPT) method with the standard navigation algorithm to restrict the error growth. However, heading drift still remains despite using ZUPT measurements since the heading error is unobservable. Also, foot mounted INS suffers from the initialization ambiguity of position and heading from GPS. In this paper, a novel algorithm is developed to mitigate the heading drift problem when using ZUPT. The method uses building lay-out to aid the heading measurement in Kalman filter, and it could also be combined for the initial-ization. The algorithm has been investigated with real field trials using the low cost Microstrain 3DM-GX3-25 inertial sensor, a Leica GS10 GPS receiver and a uBlox EVK-6T GPS receiver. It could be concluded that the proposed method offers a significant improvement in position accuracy for the long period, allowing pedestrian navigation for nearly40 min with mean position error less than 2.8 m. This method also has a considerable effect on the accuracy of the initialization.

Heading driftInitializationIntegrated navigationPedestrian navigationSatellite navigationZero velocity update

Feng Wenquan、Zhao Hongbo、Zhao Qi、Li Jingwen

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School of Electronics and Information Engineering, Beihang University, Beijing 100191, China

authors would like to express the sincere grat-itude to DrMeng for the infinite support and guidance throughout the trial

2013

中国航空学报(英文版)
中国航空学会

中国航空学报(英文版)

CSTPCDCSCDSCIEI
影响因子：0.847
ISSN：1000-9361
年,卷(期)：2013.(5)
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