Zero velocity update with stepwise smoothing for inertial pedestrian navigation

Li, Y; Wang, J; Kong, X

Zero velocity update with stepwise smoothing for inertial pedestrian navigation

Li, Y Wang, J

Kong, X

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Publisher:: Menay Pty Ltd, Australia
Publication Type:: Conference Proceeding
Citation:: International Global Navigation Satellite Systems Society 2013 Symposium Proceedings, 2013, pp. 1 - 10
Issue Date:: 2013-01

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Field	Value	Language
dc.contributor.author	Li, Y	en_US
dc.contributor.author	Wang, J https://orcid.org/0000-0002-6282-0456	en_US
dc.contributor.author	Kong, X https://orcid.org/0000-0001-7855-858X	en_US
dc.contributor.editor	Allison Kealy	en_US
dc.date	2013-07-16	en_US
dc.date.issued	2013-01	en_US
dc.identifier.citation	International Global Navigation Satellite Systems Society 2013 Symposium Proceedings, 2013, pp. 1 - 10	en_US
dc.identifier.isbn	978-0-646-90640-9	en_US
dc.identifier.uri	http://hdl.handle.net/10453/27602
dc.description.abstract	Zero velocity update (ZUPT) is an effective way to correct low cost inertial measurement unit (IMU) errors when it is foot-mounted for pedestrian navigation. The stance phase in steps provides zero velocity measurement for inertial sensor error correction. As the errors of IMU estimated position and velocity grow rapidly with time between each correction, ZUPT applied at each step leads to sharp corrections and discontinuities in the estimated trajectory. For motion analysis and visualization, these large corrections are undesirable. Consequently, the implementation of smoothing for ZUPT-aided INS is considered to eliminate the sharp corrections. In this paper, we propose a closed loop Rauch-Tung-Striebel (RTS) smoother using a 24 error states extended Kalman filter (EKF) implement on our previous pedestrian navigation systems. Unlike common RTS smoother which operates as off-line processing mode, a near-real-time stepwise smoother is implemented to eliminate the sharp corrections over the steps. The impact of the near real-time smoothing filter for different step manners (walk, run and climb stairs) combined with the Constant Velocity Update (CUPT) concept we proposed previously is illustrated and analysed. Experimental results show that the proposed method can dramatically improve pedestrian navigation smoothness.	en_US
dc.publisher	Menay Pty Ltd, Australia	en_US
dc.relation.ispartof	International Global Navigation Satellite Systems Society 2013 Symposium Proceedings	en_US
dc.relation.ispartof	International Global Navigation Satellite Systems Society	en_US
dc.title	Zero velocity update with stepwise smoothing for inertial pedestrian navigation	en_US
dc.type	Conference Proceeding
utslib.location	PO Box 413, Tweed Heads NSW 2485 Australia	en_US
utslib.location.activity	Surfers Paradise, Australia	en_US
utslib.for	090904 Navigation and Position Fixing	en_US
dc.location.activity	Surfers Paradise, Australia	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Civil and Environmental Engineering
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
pubs.organisational-group	/University of Technology Sydney/Strength - CRIN - Realtime Information Networks
utslib.copyright.status	closed_access
pubs.consider-herdc	true	en_US
pubs.finish-date	2013-07-18	en_US
pubs.place-of-publication	PO Box 413, Tweed Heads NSW 2485 Australia	en_US
pubs.start-date	2013-07-16	en_US

Abstract:

Zero velocity update (ZUPT) is an effective way to correct low cost inertial measurement unit (IMU) errors when it is foot-mounted for pedestrian navigation. The stance phase in steps provides zero velocity measurement for inertial sensor error correction. As the errors of IMU estimated position and velocity grow rapidly with time between each correction, ZUPT applied at each step leads to sharp corrections and discontinuities in the estimated trajectory. For motion analysis and visualization, these large corrections are undesirable. Consequently, the implementation of smoothing for ZUPT-aided INS is considered to eliminate the sharp corrections. In this paper, we propose a closed loop Rauch-Tung-Striebel (RTS) smoother using a 24 error states extended Kalman filter (EKF) implement on our previous pedestrian navigation systems. Unlike common RTS smoother which operates as off-line processing mode, a near-real-time stepwise smoother is implemented to eliminate the sharp corrections over the steps. The impact of the near real-time smoothing filter for different step manners (walk, run and climb stairs) combined with the Constant Velocity Update (CUPT) concept we proposed previously is illustrated and analysed. Experimental results show that the proposed method can dramatically improve pedestrian navigation smoothness.

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http://hdl.handle.net/10453/27602