Initialization of a Pedestrian Navigation System: A Transfer Alignment Approach

Archit Thopay, David Bevly, Scott Martin

Abstract: Pedestrian navigation techniques are used to provide PNT information in lieu of or to supplement more traditional systems such as GNSS. A challenge that faces users of pedestrian navigation algorithms is the acquisition of initialization data. Existing pedestrian navigation methods assume the availability of GNSS position and velocity and of standstill periods that can be used to provide attitude information. This paper presents novel methods which uses inertial and position information from a vehicle to initialize and calibrate a pedestrian navigation system. The accuracy of the initialization is assessed by examining the different pedestrian trajectories computed by each algorithm as the pedestrian dismounts and walks away from the vehicle. Preliminary data runs show that the new algorithms initialize the pedestrian navigation system with approximately 18° of heading accuracy.
Published in: Proceedings of the ION 2019 Pacific PNT Meeting
April 8 - 11, 2019
Hilton Waikiki Beach
Honolulu, Hawaii
Pages: 84 - 97
Cite this article: Thopay, Archit, Bevly, David, Martin, Scott, "Initialization of a Pedestrian Navigation System: A Transfer Alignment Approach," Proceedings of the ION 2019 Pacific PNT Meeting, Honolulu, Hawaii, April 2019, pp. 84-97.
https://doi.org/10.33012/2019.16795
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