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Single UWB Anchor Aided PDR Heading and Step Length Correcting Indoor Localization System

文献类型：期刊论文

作者Long, Keliu1,2; Shen, Chong1,2; Tian, Chuan4; Zhang, Kun1,2,3; Bhatti, Uzair Aslam5; Kong, Darryl Franck Nsalo1,2; Feng, Shuo1,2; Cheng, Hesen1,2
刊名IEEE ACCESS
出版日期2021
卷号9页码:11511-11522
ISSN号2169-3536
关键词Location awareness Distance measurement Legged locomotion Estimation Gyroscopes Filtering algorithms Kalman filters Pedestrian dead reckon ultra-wide band indoor localization fusion strategy
DOI10.1109/ACCESS.2021.3050405
英文摘要In this paper, we present a simple-structure Pedestrian Dead Reckon (PDR) system based on commercial IMU sensor and UWB ranging system. In PDR system, the accuracy of step and heading angle estimation completely decide the precision of location result. In order to select proper zero-velocity intervals for step and heading estimations in the foot stance/still stage, a modified zero-velocity detection way called Heuristic Step Detection (HSD) has been designed based on zero-velocity update algorithm (ZUPT). Based on the modified zero-velocity detection algorithm, i.e., HSD, an Kalman-type filter is used to get rough heading angle by fusing zero-velocity information and single UWB anchor ranging results. After that, a constrained sigma point based filter is used to further constrain heading angle range. Moreover, the range measures, provided by a UWB localization system with only one reference anchor, are used to correct the pedestrian step length. Trough UWB ranging measures analysis between two consecutive steps, the step length and pedestrian heading direction correcting processes are related to each other, and as a result, a more stable positioning result can be gotten. The corresponding practical experiments are conducted in real indoor environment over 2000 meters, and the results show that, compared with only INS-aided PDR, our scheme can reduce the average position error by more than 80%, and it can achieve long-term high accuracy and robust localization results.
资助项目National Key Research and Development Program of China[2017YFC0305903] ; High-level Talent Project of Hainan Natural Science Foundation[2019RC236] ; National Natural Science Foundation of China[61861015] ; Key Project of Scientific Research of Higher Education in Hainan Province[Hnky2019ZD-35]
WOS研究方向Computer Science ; Engineering ; Telecommunications
语种英语
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号WOS:000609803500001
资助机构National Key Research and Development Program of China ; High-level Talent Project of Hainan Natural Science Foundation ; National Natural Science Foundation of China ; Key Project of Scientific Research of Higher Education in Hainan Province
源URL[http://ir.idsse.ac.cn/handle/183446/8383]  
专题深海工程技术部_深海信息技术研究室
通讯作者Shen, Chong; Tian, Chuan; Zhang, Kun
作者单位1.Hainan Univ, State Key Lab Marine Resources Utilizat South Chi, Haikou 570228, Hainan, Peoples R China
2.Hainan Univ, Coll Informat Sci & Technol, Haikou 570228, Hainan, Peoples R China
3.Hainan Trop Ocean Univ, Educ Ctr MTA, Sanya 572022, Peoples R China
4.Chinese Acad Sci, Inst Deep Sea Sci & Engn, Sanya 572000, Peoples R China
5.Nanjing Normal Univ, Sch Geog, Nanjing 210023, Peoples R China
推荐引用方式
GB/T 7714		 Long, Keliu,Shen, Chong,Tian, Chuan,et al. Single UWB Anchor Aided PDR Heading and Step Length Correcting Indoor Localization System[J]. IEEE ACCESS,2021,9:11511-11522.
APA Long, Keliu.,Shen, Chong.,Tian, Chuan.,Zhang, Kun.,Bhatti, Uzair Aslam.,...&Cheng, Hesen.(2021).Single UWB Anchor Aided PDR Heading and Step Length Correcting Indoor Localization System.IEEE ACCESS,9,11511-11522.
MLA Long, Keliu,et al."Single UWB Anchor Aided PDR Heading and Step Length Correcting Indoor Localization System".IEEE ACCESS 9(2021):11511-11522.

入库方式： OAI收割

来源：深海科学与工程研究所

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