Increased error observability of an inertial pedestrian navigation system by rotating IMU

Abdulrahim, Khairi and Hide, Christopher and Moore, Terry and Hill, Chris (2014) Increased error observability of an inertial pedestrian navigation system by rotating IMU. Journal of Engineering and Technological Sciences, 46 (2). pp. 211-225. ISSN 2337-5779

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Abstract

Indoor pedestrian navigation suffers from the unavailability of useful GNSS signals for navigation. Often a low-cost non-GNSS inertial sensor is used to navigate indoors. However, using only a low-cost inertial sensor for the system degrades its performance due to the low observability of errors affecting such low-cost sensors. Of particular concern is the heading drift error, caused primarily by the unobservability of z-axis gyro bias errors, which results in a huge positioning error when navigating for more than a few seconds. In this paper, the observability of this error is increased by proposing a method of rotating the inertial sensor on its y-axis. The results from a field trial for the proposed innovative method are presented. The method was performed by rotating the sensor mechanically–mounted on a shoe–on a single axis. The method was shown to increase the observability of z-axis gyro bias errors of a low-cost sensor. This is very significant because no other integrated measurements from other sensors are required to increase error observability. This should potentially be very useful for autonomous low-cost inertial pedestrian navigation systems that require a long period of navigation time.

Item Type: Article
Keywords: error observability; inertial; low-cost; pedestrian navigation; sensor
Schools/Departments: University of Nottingham UK Campus > Faculty of Engineering
Identification Number: https://doi.org/10.5614/j.eng.technol.sci.2014.46.2.7
Depositing User: Eprints, Support
Date Deposited: 21 May 2016 14:02
Last Modified: 14 Sep 2016 07:32
URI: http://eprints.nottingham.ac.uk/id/eprint/33191

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