Pedestrian positioning system(PPS)using wearable inertial sensors has wide applications towards various emerging fields such as smart healthcare,emergency rescue,soldier positioning,etc.The performance of traditional ...Pedestrian positioning system(PPS)using wearable inertial sensors has wide applications towards various emerging fields such as smart healthcare,emergency rescue,soldier positioning,etc.The performance of traditional PPS is limited by the cumulative error of inertial sensors,complex motion modes of pedestrians,and the low robustness of the multi-sensor collaboration structure.This paper presents a hybrid pedestrian positioning system using the combination of wearable inertial sensors and ultrasonic ranging(H-PPS).A robust two nodes integration structure is developed to adaptively combine the motion data acquired from the single waist-mounted and foot-mounted node,and enhanced by a novel ellipsoid constraint model.In addition,a deep-learning-based walking speed estimator is proposed by considering all the motion features provided by different nodes,which effectively reduces the cumulative error originating from inertial sensors.Finally,a comprehensive data and model dual-driven model is presented to effectively combine the motion data provided by different sensor nodes and walking speed estimator,and multi-level constraints are extracted to further improve the performance of the overall system.Experimental results indicate that the proposed H-PPS significantly improves the performance of the single PPS and outperforms existing algorithms in accuracy index under complex indoor scenarios.展开更多
Long-term navigation ability based on consumer-level wearable inertial sensors plays an essential role towards various emerging fields, for instance, smart healthcare, emergency rescue, soldier positioning et al. The ...Long-term navigation ability based on consumer-level wearable inertial sensors plays an essential role towards various emerging fields, for instance, smart healthcare, emergency rescue, soldier positioning et al. The performance of existing long-term navigation algorithm is limited by the cumulative error of inertial sensors, disturbed local magnetic field, and complex motion modes of the pedestrian. This paper develops a robust data and physical model dual-driven based trajectory estimation(DPDD-TE) framework, which can be applied for long-term navigation tasks. A Bi-directional Long Short-Term Memory(Bi-LSTM) based quasi-static magnetic field(QSMF) detection algorithm is developed for extracting useful magnetic observation for heading calibration, and another Bi-LSTM is adopted for walking speed estimation by considering hybrid human motion information under a specific time period. In addition, a data and physical model dual-driven based multi-source fusion model is proposed to integrate basic INS mechanization and multi-level constraint and observations for maintaining accuracy under long-term navigation tasks, and enhanced by the magnetic and trajectory features assisted loop detection algorithm. Real-world experiments indicate that the proposed DPDD-TE outperforms than existing algorithms, and final estimated heading and positioning accuracy indexes reaches 5° and less than 2 m under the time period of 30 min, respectively.展开更多
Pure inertial navigation system(INS) has divergent localization errors after a long time. In order to compensate the disadvantage, wireless sensor network(WSN) associated with the INS was applied to estimate the mobil...Pure inertial navigation system(INS) has divergent localization errors after a long time. In order to compensate the disadvantage, wireless sensor network(WSN) associated with the INS was applied to estimate the mobile target positioning. Taking traditional Kalman filter(KF) as the framework, the system equation of KF was established by the INS and the observation equation of position errors was built by the WSN. Meanwhile, the observation equation of velocity errors was established by the velocity difference between the INS and WSN, then the covariance matrix of Kalman filter measurement noise was adjusted with fuzzy inference system(FIS), and the fuzzy adaptive Kalman filter(FAKF) based on the INS/WSN was proposed. The simulation results show that the FAKF method has better accuracy and robustness than KF and EKF methods and shows good adaptive capacity with time-varying system noise. Finally, experimental results further prove that FAKF has the fast convergence error, in comparison with KF and EKF methods.展开更多
基金supported by the National Natural Science Foundation of China under(Grant No.52175531)in part by the Science and Technology Research Program of Chongqing Municipal Education Commission under Grant(Grant Nos.KJQN202000605 and KJZD-M202000602)。
文摘Pedestrian positioning system(PPS)using wearable inertial sensors has wide applications towards various emerging fields such as smart healthcare,emergency rescue,soldier positioning,etc.The performance of traditional PPS is limited by the cumulative error of inertial sensors,complex motion modes of pedestrians,and the low robustness of the multi-sensor collaboration structure.This paper presents a hybrid pedestrian positioning system using the combination of wearable inertial sensors and ultrasonic ranging(H-PPS).A robust two nodes integration structure is developed to adaptively combine the motion data acquired from the single waist-mounted and foot-mounted node,and enhanced by a novel ellipsoid constraint model.In addition,a deep-learning-based walking speed estimator is proposed by considering all the motion features provided by different nodes,which effectively reduces the cumulative error originating from inertial sensors.Finally,a comprehensive data and model dual-driven model is presented to effectively combine the motion data provided by different sensor nodes and walking speed estimator,and multi-level constraints are extracted to further improve the performance of the overall system.Experimental results indicate that the proposed H-PPS significantly improves the performance of the single PPS and outperforms existing algorithms in accuracy index under complex indoor scenarios.
文摘Long-term navigation ability based on consumer-level wearable inertial sensors plays an essential role towards various emerging fields, for instance, smart healthcare, emergency rescue, soldier positioning et al. The performance of existing long-term navigation algorithm is limited by the cumulative error of inertial sensors, disturbed local magnetic field, and complex motion modes of the pedestrian. This paper develops a robust data and physical model dual-driven based trajectory estimation(DPDD-TE) framework, which can be applied for long-term navigation tasks. A Bi-directional Long Short-Term Memory(Bi-LSTM) based quasi-static magnetic field(QSMF) detection algorithm is developed for extracting useful magnetic observation for heading calibration, and another Bi-LSTM is adopted for walking speed estimation by considering hybrid human motion information under a specific time period. In addition, a data and physical model dual-driven based multi-source fusion model is proposed to integrate basic INS mechanization and multi-level constraint and observations for maintaining accuracy under long-term navigation tasks, and enhanced by the magnetic and trajectory features assisted loop detection algorithm. Real-world experiments indicate that the proposed DPDD-TE outperforms than existing algorithms, and final estimated heading and positioning accuracy indexes reaches 5° and less than 2 m under the time period of 30 min, respectively.
基金Project(2013AA06A411)supported by the National High Technology Research and Development Program of ChinaProject(CXZZ14_1374)supported by the Graduate Education Innovation Program of Jiangsu Province,ChinaProject supported by the Priority Academic Program Development of Jiangsu Higher Education Institutions,China
文摘Pure inertial navigation system(INS) has divergent localization errors after a long time. In order to compensate the disadvantage, wireless sensor network(WSN) associated with the INS was applied to estimate the mobile target positioning. Taking traditional Kalman filter(KF) as the framework, the system equation of KF was established by the INS and the observation equation of position errors was built by the WSN. Meanwhile, the observation equation of velocity errors was established by the velocity difference between the INS and WSN, then the covariance matrix of Kalman filter measurement noise was adjusted with fuzzy inference system(FIS), and the fuzzy adaptive Kalman filter(FAKF) based on the INS/WSN was proposed. The simulation results show that the FAKF method has better accuracy and robustness than KF and EKF methods and shows good adaptive capacity with time-varying system noise. Finally, experimental results further prove that FAKF has the fast convergence error, in comparison with KF and EKF methods.
