New Pedestrian Trajectory Simulator to Study Innovative Yaw Angle Constraints

C. Ascher, C. Kessler, A. Maier, P. Crocoll, G.F. Trommer

Abstract:	In this paper a new approach for pure inertial pedestrian navigation is studied based on a shoe mounted Inertial Measurement Unit (IMU) and Zero Velocity Updates (ZUPT) during standing phase. The major error in this constellation is a growing yaw angle error. By using new virtual yaw angle constraints in the estimation filter, a significant reduction of yaw drift can be obtained. Results with real IMU data will be presented recorded during walking tests, showing the improvement by the new approach. Furthermore this paper will present a new realistic Monte Carlo Trajectory Simulation Tool which makes it possible to generate realistic IMU data sets for variable trajectories like straight walk, curve walk, slow walk, stand phases, etc. Different IMUs can be compared; algorithms can be tested and validated. With these simulations, the above mentioned new method will be studied by using Monte Carlo runs. Finally, the new updates are compared to another approach: a filter implementation without the estimation of gyro biases. Index Terms—Pedestrian Navigation, Indoor Navigation, ZUPT
Published in:	Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010) September 21 - 24, 2010 Oregon Convention Center, Portland, Oregon Portland, OR
Pages:	504 - 510
Cite this article:	Ascher, C., Kessler, C., Maier, A., Crocoll, P., Trommer, G.F., "New Pedestrian Trajectory Simulator to Study Innovative Yaw Angle Constraints," Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010), Portland, OR, September 2010, pp. 504-510.
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