Indoor Pedestrian Navigation Using Miniaturized Low-Cost MEMS Inertial Measurement Units

X. Yuan, C. Liu, S. Zhang, S. Yu

Abstract:	The paper presents an indoor pedestrian navigation system using miniaturized low-cost MEMS inertial measurement units (IMU). The low-cost MEMS IMU comprises of a tri-axial accelerometer, a tri-axial gyroscope, a tri-axial magnetometer, which are widely available in most smartphones, tablets, and other handheld devices. Through comparison tests of the IMU fixed on chest and foot, we found that the foot-mounted location is the proximate position, reflecting human’s waking kinetic. The tri-axial accelerometer is used to measure step events and to estimate step stride. Due to magnetic disturbance indoor and gyroscope drift error, we propose a quaternion-based extended Kalman filter (EKF) for heading estimation by combining the magnetometer data and gyroscope data. Because of their complementary characteristics, a better accuracy in the heading solution is got.
Published in:	Proceedings of IEEE/ION PLANS 2014 May 5 - 8, 2014 Hyatt Regency Hotel Monterey, CA
Pages:	487 - 492
Cite this article:	Yuan, X., Liu, C., Zhang, S., Yu, S., "Indoor Pedestrian Navigation Using Miniaturized Low-Cost MEMS Inertial Measurement Units," Proceedings of IEEE/ION PLANS 2014, Monterey, CA, May 2014, pp. 487-492. https://doi.org/10.1109/PLANS.2014.6851407
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