Abstract:

Aiming at the problem of pedestrian dead reckoning (PDR) with inertial measurement unit and the positioning error will accumulate over time.A method of estimating indoor pedestrian space based on multi-sensor fusion is proposed.For low-cost multi-sensor of smart mobile device,the initial alignment based on the unscented Kalman filter (UKF) is designed and the four threshold conditions are set to carry out the step state detection.In the process of walking,the problem of the accumulation of the step and the heading angle error is based on the zero speed update (ZUPT) of the UKF to correct the speed error,zero angle rate update (ZARU) and magnetometer fusion of the heading angle error correction,which effectively improve the pedestrian final position accuracy.The experimental results show that the method can effectively improve the average positional deviation of PDR position by about 1.5% of the total distance.

Key words: unscented Kalman filter, ZUPT, ZARU, magnetometer, pedestrian dead reckoning