低コストMEMS IMUを用いた歩行者向け慣性航法システムの設計と実装
Design and Implementation of an Inertial Navigation System for Pedestrians Based on a Low-Cost MEMS IMU
低コストIMUのドリフトを抑えるため、センサ誤差モデルを拡張カルマンフィルタの状態ベクトルに含め、新たなソフトヒューリスティックで足の接地検出とゼロ速度更新を行う歩行者慣性航法を提案した。
著者: Francesco Montorsi, Fabrizio Pancaldi, Giorgio M. Vitetta
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Inertial navigation systems for pedestrians are infrastructure-less and can achieve sub-meter accuracy in the short/medium period. However, when low-cost inertial measurement units (IMU) are employed for their implementation, they suffer from a slowly growing drift between the true pedestrian position and the corresponding estimated position. In this paper we illustrate a novel solution to mitigate such a drift by: a) using only accelerometer and gyroscope measurements (no magnetometers required); b) including the sensor error model parameters in the state vector of an extended Kalman filter; c) adopting a novel soft heuristic for foot stance detection and for zero-velocity updates. Experimental results evidence that our inertial-only navigation system can achieve similar or better performance with respect to pedestrian dead-reckoning systems presented in related studies, although the adopted IMU is less accurate than more expensive counterparts.