Abstract
Pedestrian Navigation System (PNS) is one of the research focuses of indoor positioning in GNSS-denied environments based on the MEMS Inertial Measurement Unit (MIMU). However, in the foot-mounted pedestrian navigation system with MIMU or mobile phone as the main carrier, it is difficult to make the sampling time of gyros and accelerometers completely synchronous. The gyro-accelerometer asynchronous time affects the positioning of PNS. To solve this problem, a new error model of gyro-accelerometer asynchronous time is built. The effect of gyro-accelerometer asynchronous time on pedestrian navigation is analyzed. A filtering model is designed to calibrate the gyro-accelerometer asynchronous time, and a zero-velocity detection method based on the rate of attitude change is proposed. The indoor experiment shows that the gyro-accelerometer asynchronous time is estimated effectively, and the positioning accuracy of PNS is improved by the proposed method after compensating for the errors caused by gyro-accelerometer asynchronous time.
| Original language | English |
|---|---|
| Article number | 209 |
| Journal | Sensors |
| Volume | 22 |
| Issue number | 1 |
| DOIs | |
| State | Published - 1 Jan 2022 |
Keywords
- Calibration method
- Error model
- Gyro-accelerometer asynchronous time
- Pedestrians navigation system
- Zero-velocity detection
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