Pedestrian Navigation Using Foot-Mounted Inertial Sensor and LIDAR

Foot-mounted inertial sensors can be used for indoor pedestrian navigation. In this paper, to improve the accuracy of pedestrian location, we propose a method using a distance sensor (LIDAR) in addition to an inertial measurement unit (IMU). The distance sensor is a time of flight range finder with...

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Bibliographic Details
Published inSensors (Basel, Switzerland) Vol. 16; no. 1; p. 120
Main Authors Pham, Duy Duong, Suh, Young Soo
Format Journal Article
LanguageEnglish
Published Switzerland MDPI 19.01.2016
MDPI AG
Subjects
Accelerometry - instrumentation
Algorithms
distance sensor
Foot - physiology
Humans
IMU
inertial sensor
Kalman filters
LIDAR
Monitoring, Ambulatory - instrumentation
pedestrian navigation
Pedestrians
Shoes
Spatial Navigation - physiology
Walking - physiology
IMU
LIDAR
Kalman filters
inertial sensor
pedestrian navigation
distance sensor
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Summary:Foot-mounted inertial sensors can be used for indoor pedestrian navigation. In this paper, to improve the accuracy of pedestrian location, we propose a method using a distance sensor (LIDAR) in addition to an inertial measurement unit (IMU). The distance sensor is a time of flight range finder with 30 m measurement range (at 33.33 Hz). Using a distance sensor, walls on corridors are automatically detected. The detected walls are used to correct the heading of the pedestrian path. Through experiments, it is shown that the accuracy of the heading is significantly improved using the proposed algorithm. Furthermore, the system is shown to work robustly in indoor environments with many doors and passing people.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
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ISSN:1424-8220
1424-8220
DOI:10.3390/s16010120