Magnetic Vector Constraint Pedestrian Dead Reckoning Based on Foot-Mounted and Waist- Mounted IMU
发布时间：2025-08-25点击次数：
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发表刊物：IEEE Internet of Things Journal
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摘要：The foot-mounted inertial navigation system (FootINS) is a crucial technology for professional pedestrian positioning, unaffected by environmental conditions. However, due to the unobservable nature of the absolute heading, single or dual Foot-INS configurations suffer from significant position drift errors. This paper introduces an innovative pedestrian dead reckoning (PDR) method that combines foot-mounted and waistmounted IMU with magnetic field vector constraints. Leveraging the fact that the displacements of the foot and waist are consistent when the foot makes ground contact, the proposed method uses the relative displacement estimated by Foot-INS to correct the waist-mounted INS. Building on this, a relative magnetic field vector constraint method is developed using error state clonal Kalman filtering, capitalizing on the similarity of magnetic interference within a local area. The results from 12 tests conducted in typical indoor environments, such as offices and underground parking lots, demonstrate that the proposed method significantly enhances positioning performance in areas with frequent magnetic interference. The positioning error is reduced by more than 49% compared to single or dual FootINSs.
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合写作者：刘韬,孟宪梅,牛小骥
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第一作者：旷俭
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论文类型：期刊论文
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通讯作者：王琰
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是否译文：否
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发表时间：2025-01-01
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收录刊物：SCI
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