An enhanced foot-mounted PDR method with adaptive ZUPT and multi-sensors fusion for seamless pedestrian navigation

2022 
The rapid development of mass-market sensors built in portable devices has inspired a variety of ubiquitous pedestrian navigation applications. However, seamless positioning of consumer applications is still a challenge, especially in GNSS-denied environments and complex pedestrian dynamics. We present an enhanced foot-mounted pedestrian dead-reckoning (PDR) method to achieve continuous indoor and outdoor positioning for walking pedestrians. In order to improve the availability and stability of PDR under real pedestrian conditions, an adaptive zero-velocity detection method is given, and then, more accurate magnetic heading changes and pressure-based altitude changes are extracted. During stable pedestrian motions, the heuristic drift reduction models are also applied to constrain the cumulative heading and altitude errors. The field test results demonstrate that the adaptive detector performs well under different walking speeds and stair climbing, and the cumulative distance error of enhanced PDR is only 0.23%. After integrating with smartphone GNSS position, the root mean square value of PDR horizontal position error is about 1.34 m, and the multi-source information-enhanced PDR has the capability to continuously positioning in open sky, building occlusion and indoor situations under complex pedestrian walking conditions.
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