Research Article
Research on Positioning Accuracy of Indoor and Outdoor Pedestrian Seamless Navigation
@INPROCEEDINGS{10.1007/978-3-030-51103-6_32, author={Kailong Wang and Huixia Li and Hang Guo}, title={Research on Positioning Accuracy of Indoor and Outdoor Pedestrian Seamless Navigation}, proceedings={Multimedia Technology and Enhanced Learning. Second EAI International Conference, ICMTEL 2020, Leicester, UK, April 10-11, 2020, Proceedings, Part II}, proceedings_a={ICMTEL PART 2}, year={2020}, month={7}, keywords={Pedestrian seamless navigation BDS/GPS Zero Velocity Update (ZUPT) Extended Kalman Filter (EKF)}, doi={10.1007/978-3-030-51103-6_32} }- Kailong Wang
Huixia Li
Hang Guo
Year: 2020
Research on Positioning Accuracy of Indoor and Outdoor Pedestrian Seamless Navigation
ICMTEL PART 2
Springer
DOI: 10.1007/978-3-030-51103-6_32
Abstract
The accuracy of pedestrian positioning is helpful to ensure the pedestrian safety in both indoor and outdoor environments. Improve the accuracy of pedestrian positioning is a key research issue. In order to solve the problem that the indoor and outdoor pedestrian navigation is not continuous and the accuracy is low, a pedestrian seamless navigation and positioning method based on BDS/GPS/IMU is proposed. In outdoor environment, in order to improve the availability of dynamic positioning when the single-system observation geometry is not ideal, the key techniques such as the differential coordinates and time benchmark in BDS/GPS positioning are studied, and a method of eliminating time difference by the independent combination difference in the system is proposed. This method simplifies the operation steps and overcomes the current compatible positioning difficulties without the time difference between BDS and GPS. It can be seen that the more the number of visible satellites, the better the space geometric distribution. In the combined positioning experiment results of BDS and GPS, the number of visual satellites are about 6–8 when GPS is used alone. When using the combined system, the number of visible satellites increased to about 16. The increase in the number of visible satellites greatly improves the observation geometry. For the Position Dilution of Precision (PDOP), the maximum PDOP of the dual system is 2.7, which is significantly lower than that of the single system, and the observation geometry performance is greatly improved. In the effective positioning time, for BDS/GPS, the positioning accuracy of elevation (U) direction is better than 4 cm, and the positioning accuracy of North (N) and East (E) direction is better than 2 cm. Based on the analysis of pedestrian gait characteristics, a multi-condition constrained zero-velocity detection algorithm is proposed. For the error of the inertial sensor error is accumulated over the time, the zero velocity update (ZUPT) algorithm is implemented to correct the cumulative errors by using to the designed extended Kalman filter (EKF) with the velocity and angular velocity information as the measurements. The results show that the accuracy of dual-mode positioning system of BDS compatible with GPS is better than the single-mode GPS positioning, the outdoor position accuracy can reach centimeter level, and under ZUPT compensation the indoor error ratio is 1%, which can achieve more accurate pedestrian seamless navigation.
