標題: | On Calibrating the Sensor Errors of a PDR-Based Indoor Localization System |
作者: | Lan, Kun-Chan Shih, Wen-Yuah 資訊工程學系 Department of Computer Science |
關鍵字: | pedestrian dead reckoning;waist-mounted;simple harmonic motion;ZUPT;map matching;floor plan |
公開日期: | 1-四月-2013 |
摘要: | Many studies utilize the signal strength of short-range radio systems (such as WiFi, ultrasound and infrared) to build a radio map for indoor localization, by deploying a large number of beacon nodes within a building. The drawback of such an infrastructure-based approach is that the deployment and calibration of the system are costly and labor-intensive. Some prior studies proposed the use of Pedestrian Dead Reckoning (PDR) for indoor localization, which does not require the deployment of beacon nodes. In a PDR system, a small number of sensors are put on the pedestrian. These sensors (such as a G-sensor and gyroscope) are used to estimate the distance and direction that a user travels. The effectiveness of a PDR system lies in its success in accurately estimating the user's moving distance and direction. In this work, we propose a novel waist-mounted based PDR that can measure the user's step lengths with a high accuracy. We utilize vertical acceleration of the body to calculate the user's change in height during walking. Based on the Pythagorean Theorem, we can then estimate each step length using this data. Furthermore, we design a map matching algorithm to calibrate the direction errors from the gyro using building floor plans. The results of our experiment show that we can achieve about 98.26% accuracy in estimating the user's walking distance, with an overall location error of about 0.48 m. |
URI: | http://dx.doi.org/10.3390/s130404781 http://hdl.handle.net/11536/21944 |
ISSN: | 1424-8220 |
DOI: | 10.3390/s130404781 |
期刊: | SENSORS |
Volume: | 13 |
Issue: | 4 |
起始頁: | 4781 |
結束頁: | 4810 |
顯示於類別: | 期刊論文 |