A Pedestrian Dead Reckoning System for Walking and Marking Time Mixed Movement Using an SHSs Scheme and a Foot Mounted IMU
A pedestrian dead reckoning (PDR) system based on micro inertial technology usually uses a sensor integrated with a three axis gyroscope, a three axis accelerometer, and a three axis magnetometer and is attached to the person's body (usually on the foot) to acquire the trajectory of the pedestrian. Although a variety of PDR system solutions have been proposed, the PDR solution for marking time and walking hybrid motions has not been formally proposed and solved. Therefore, in this paper, we propose the PDR system using a step and heading system scheme for marking time and walking hybrid motion. The main contributions include: 1) an adaptive gait partitioning method for walking and marking time hybrid motions is proposed; 2) a motion classification algorithm that uses a multi layer perceptron to classify whether each step is walking or marking time is proposed; and 3) a new step length estimator based on several currently proposed models is proposed. Finally, an extended Kalman filtering algorithm combining heuristic heading reduction, flat ground hypothesis, and cardinal heading aided inertial navigation techniques is used for heading estimation. We evaluate the effectiveness of the proposed algorithm through experiments, and the experimental results show that the average position error of the two groups of test experiments based on marking time and walking hybrid motion is 0.42% and 0.6% respectively.
IEEE Sensors Journal