Yamagishi Shunsei, Jing Lei
Graduate School of Computer and Information Systems, The University of Aizu, Aizuwakamatsu 965-0006, Japan.
Micromachines (Basel). 2022 Apr 13;13(4):610. doi: 10.3390/mi13040610.
In this paper, we researched Pedestrian Dead Reckoning (PDR) with one foot-mounted IMU sensor. The issues of PDR are magnetism noise and accumulated error due to the noise included in acceleration and gyro data. Two methods are proposed in this paper. First is the gait-phase-estimation method with pitch angle for the Zero Velocity Update algorithm. Second is a method for avoiding accumulated errors by updating the roll and pitch angles with acceleration. The two experiments were conducted to examine the error of gait-phase estimation and distance estimations. The relative error of distance was about 7.40% in the case of walking straight and about 12.27% in the case of a shifting travel direction.
在本文中，我们研究了使用一个安装在脚上的惯性测量单元（IMU）传感器的行人航位推算（PDR）。PDR存在的问题是由于加速度和陀螺仪数据中包含的噪声导致的磁噪声和累积误差。本文提出了两种方法。第一种是用于零速度更新算法的基于俯仰角的步态相位估计方法。第二种是通过利用加速度更新横滚角和俯仰角来避免累积误差的方法。进行了两项实验来检验步态相位估计和距离估计的误差。在直线行走的情况下，距离的相对误差约为7.40%，在行进方向改变的情况下约为12.27%。
