A Closed-Form Analytical Estimation of Vertical Displacement Error in Pedestrian Navigation

Chi-Shih Jao, Yusheng Wang, Sina Askari, and Andrei M. Shkel

Peer Reviewed

Abstract:	We present an analytical expression for estimating the position error in the vertical direction in pedestrian navigation using an Inertial Measurement Unit (IMU) aided by an altimeter. The analytical expression is found to be directly proportional to the altimeter resolution, the square root of the altimeter sampling rate, IMU Velocity Random Walk (VRW), and a ratio of time intervals in the stance phase and the swing phase during the gait cycle, and inversely proportional to the square root of IMU sampling rate. The analytical analysis was verified by numerical simulations and supported by experimental results. The numerical simulation of the ZUPT-augmented navigation aided by an altimeter was conducted based on a mathematically simulated foot motion trajectory. Experiments were implemented on a foot-mounted platform containing IMUs and altimeters. The results from both simulations and experiments matched our analytical prediction, with an error less than 20%.
Published in:	2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) April 20 - 23, 2020 Hilton Portland Downtown Portland, Oregon
Pages:	793 - 797
Cite this article:	Jao, Chi-Shih, Wang, Yusheng, Askari, Sina, Shkel, Andrei M., "A Closed-Form Analytical Estimation of Vertical Displacement Error in Pedestrian Navigation," 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS), Portland, Oregon, April 2020, pp. 793-797.
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