A Foot-Mounted Sensor Based 3D Indoor Positioning Approach

Author

Lingxiang Zheng ; Wencheng Zhou ; Weiwei Tang ; Xianchao Zheng ; Hui Yang ; Shuxiang Pu ; Chenxiang Li ; Biyu Tang ; Yinong Chen

Author_Institution

Sch. of Inf. Sci. & Eng., Xiamen Univ., Xiamen, China

fYear

2015

fDate

25-27 March 2015

Firstpage

145

Lastpage

150

Abstract

We present a 3D indoor positioning system with foot mounted low cost MEMS sensors. The sensors includes the accelerometers, gyroscopes, and barometer. The output of accelerometers and gyroscopes are used to calculate the zero velocity update (ZUPT) and the movement of one step. The barometer is used to detect the altitude changes. A Kalman filter based framework is used to fusion the outputs of the sensors and estimate the non-linear errors of the position and heading, which increased over time. A particle filter is used to further reduce the errors. The test result shows that the designed system perform well.

Keywords

Kalman filters; accelerometers; gyroscopes; indoor navigation; particle filtering (numerical methods); position control; sensor fusion; 3D indoor positioning system; Kalman filter; MEMS sensor; ZUPT; accelerometer; altitude change; foot-mounted sensor; gyroscope; particle filter; zero velocity update; Accelerometers; Covariance matrices; Floors; Gyroscopes; Kalman filters; Particle filters; Three-dimensional displays; 3D; Kalman filter; ZUPT; indoor positioning; particle filter;

fLanguage

English

Publisher

ieee

Conference_Titel

Autonomous Decentralized Systems (ISADS), 2015 IEEE Twelfth International Symposium on

Conference_Location

Taichung

Print_ISBN

978-1-4799-8260-8

Type

conf

DOI

10.1109/ISADS.2015.49

Filename

7098250