Multi-Sensors Observability Analysis on Pedestrian Navigation System

Xing Zhao

Abstract:	Observability is an important aspect of the system estimation problem in the integration of the multiple sensors with GPS in deep indoor and dense urban areas for personal navigation. As such Kalman filter applications, analytical and empirical approaches on the observability analysis provide additional insights on the estimator behavior in a systematic way. Consequently, the designed state errors can be guaranteed to be observable and converged quickly. The paper explores the relationship between some maneuvers of pedestrian navigations with the error states in the INS/magnetometer/GPS integration, such as heading angle, gyro, magnetometer biases, scale factor, and stride length correction etc. It also provides quantitative information about the degree of observability for each estimated state to assist optimal selection of estimated states for the navigation solutions using different sensors configurations. Field tests using a prototype portable navigation system demonstrated results consistent with observability analysis and showed that the prototype system can effectively deal with short GPS signal outages and correctly estimate navigation states online using EKF. Therefore, different simplified sensors configurations can be adapted for different application environment. The solutions exhibit good potential for a portable, reliable, accurate and low-cost system that enables continuous navigation anywhere.
Published in:	Proceedings of the 24th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2011) September 20 - 23, 2011 Oregon Convention Center, Portland, Oregon Portland, OR
Pages:	1357 - 1365
Cite this article:	Zhao, Xing, "Multi-Sensors Observability Analysis on Pedestrian Navigation System," Proceedings of the 24th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2011), Portland, OR, September 2011, pp. 1357-1365.
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