This paper introduces a new sensor fusion approach for using multiple MEMS sensor-based pedestrian navigation systems (PNSs) to enhance the performance of each individual navigation system. First, we propose a novel single IMU-based PNS which integrates both the inertial navigation system (INS) mechanization and the pedestrian dead reckoning (PDR) mechanization. When two identical PNSs are used by a user at the same time, the output of each PNS is then shared within a Kalman filter (KF) with the state-constrained approach, which, in turn, feeds the state error correction information back to each PNS. Several real experiments are done to assess the proposed methodology for the integration of multiple PNSs. The experimental studies clearly indicate that through applying the proposed state-constrained approach, using motion sensor data from multiple mobile/wearable devices could provide more accurate navigation information for a pedestrian in all indoor and outdoor environments.
['Haiyu Lan', 'Chunyang Yu', 'You Li', 'Yuan Zhuang', 'Naser El-Sheimy']
An efficient method for evaluating the performance of integrated multiple pedestrian navigation systems