A Foot-Mounted Sensor Based 3D Indoor Positioning Approach

被引：9

作者：

Zheng, Lingxiang ^{[1
]}

Zhou, Wencheng ^{[1
]}

Tang, Weiwei ^{[1
]}

Zheng, Xianchao ^{[1
]}

Yang, Hui ^{[1
]}

Pu, Shuxiang ^{[1
]}

Li, Chenxiang ^{[1
]}

Tang, Biyu ^{[1
]}

Chen, Yinong ^{[2
]}

机构：

[1] Xiamen Univ, Sch Informat Sci & Engn, Xiamen, Peoples R China

[2] Arizona State Univ, Sch Comp Informat & Decis Syst Engn, Tempe, AZ USA

来源：

2015 IEEE 12TH INTERNATIONAL SYMPOSIUM ON AUTONOMOUS DECENTRALIZED SYSTEMS ISADS 2015 | 2015年

关键词：

indoor positioning; ZUPT; 3D; Kalman filter; particle filter;

D O I：

10.1109/ISADS.2015.49

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

We present a 3D indoor positioning system with foot mounted low cost MEMS sensors. The sensors includes the accelerometers, gyroscopes, and barometer. The output of accelerometers and gyroscopes are used to calculate the zero velocity update (ZUPT) and the movement of one step. The barometer is used to detect the altitude changes. A Kalman filter based framework is used to fusion the outputs of the sensors and estimate the non-linear errors of the position and heading, which increased over time. A particle filter is used to further reduce the errors. The test result shows that the designed system perform well.

引用

页码：145 / 150

页数：6

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