Error Analysis of Step Length Estimation in Pedestrian Dead Reckoning

Helena Leppäkoski, Jani Käppi, Jari Syrjärinne and Jarmo Takala

Abstract:	This paper presents the results of walk tests that were conducted to analyze the errors in estimation of step length in pedestrian dead reckoning. Test data, sensor signals of MEMS accelerometer and barometric altimeter together with GPS positions were collected using a pedestrian dead reckoning module developed in Tampere University of Technology. The data sets were collected from eight test walks that were performed by five persons. The principles of step detection and step length estimation were used to analyze the magnitude of the estimation error and how it propagates to the error in the estimate of the traveled distance. The tests showed that although there were differences in the error growth between the different data sets, in most cases the error in the estimate of the traveled distance does not exceed 50 m in 20 minutes and about 1.87 km. This error corresponds to 2.7% of traveled distance. In the best data set, the error remained below 7 m during the whole walk, corresponding to 0.4% of traveled distance. Even in the poorest case, the error is below 5.4% of the traveled distance.
Published in:	Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002) September 24 - 27, 2002 Oregon Convention Center Portland, OR
Pages:	1136 - 1142
Cite this article:	Leppäkoski, Helena, Käppi, Jani, Syrjärinne, Jari, Takala, Jarmo, "Error Analysis of Step Length Estimation in Pedestrian Dead Reckoning," Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002), Portland, OR, September 2002, pp. 1136-1142.
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