Integrated DGPS and Dead Reckoning for A Pedestrian Navigation System in Signal Blocked Environments

R. Jirawimut, M. A. Shah, P. Ptasinski, F. Cecelja and W. Balachandran

Abstract:	This paper presents a proposed integrated system to determine positions of a pedestrian in signal blocked environments. A stand-alone DGPS has the accuracy to locate a pedestrian to within five metres in an open area. In urban canyon areas, the environment may become a severe problem, with frequently blocked GPS or differential correction data link signals. On the other hand, the accuracy of a dead reckoning (DR) system, which is based on the relative position fixing from a known starting point, is degraded by accumulated errors. A common technique is to integrate the DGPS and DR in order to improve the system performance. In the proposed system, the DR system comprises a pedometer and a compass to measure the relative distance and absolute heading, respectively. When the GPS signal and the differential correction data are available, the DGPS system provides the position and velocity of the pedestrian. The measurements are then used to calibrate the DR parameters: the step size and the compass bias error. An extended Kalman filter (EKF) is used here for the calibration of the DR parameters, and filtering position and velocity measurements simultaneously. When the GPS signal outages occur, the standalone DR with those calibrated DR parameters will provide relative positions in relation to the last DGPS fixing point. Simulation results showed that the performance of the proposed integrated system is improved in comparison with the standalone DGPS by filtering the DGPS position and velocity measurements, and calibrating those DR parameters.
Published in:	Proceedings of the 13th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2000) September 19 - 22, 2000 Salt Palace Convention Center Salt Lake City, UT
Pages:	1741 - 1747
Cite this article:	Jirawimut, R., Shah, M. A., Ptasinski, P., Cecelja, F., Balachandran, W., "Integrated DGPS and Dead Reckoning for A Pedestrian Navigation System in Signal Blocked Environments," Proceedings of the 13th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2000), Salt Lake City, UT, September 2000, pp. 1741-1747.
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