Increased error observability of an inertial pedestrian navigation system by rotating IMU
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 aff...
| Main Authors: | , , , |
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| Format: | Article |
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ITB Journal Publisher
2014
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| Online Access: | https://eprints.nottingham.ac.uk/33191/ |
| _version_ | 1848794579013206016 |
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| author | Abdulrahim, Khairi Hide, Christopher Moore, Terry Hill, Chris |
| author_facet | Abdulrahim, Khairi Hide, Christopher Moore, Terry Hill, Chris |
| author_sort | Abdulrahim, Khairi |
| building | Nottingham Research Data Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-14T19:18:26Z |
| format | Article |
| id | nottingham-33191 |
| institution | University of Nottingham Malaysia Campus |
| institution_category | Local University |
| last_indexed | 2025-11-14T19:18:26Z |
| publishDate | 2014 |
| publisher | ITB Journal Publisher |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | nottingham-331912020-05-04T20:16:02Z https://eprints.nottingham.ac.uk/33191/ Increased error observability of an inertial pedestrian navigation system by rotating IMU Abdulrahim, Khairi Hide, Christopher Moore, Terry Hill, Chris 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. ITB Journal Publisher 2014 Article PeerReviewed Abdulrahim, Khairi, Hide, Christopher, 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 error observability; inertial; low-cost; pedestrian navigation; sensor http://dx.doi.org/10.5614/j.eng.technol.sci.2014.46.2.7 doi:10.5614/j.eng.technol.sci.2014.46.2.7 doi:10.5614/j.eng.technol.sci.2014.46.2.7 |
| spellingShingle | error observability; inertial; low-cost; pedestrian navigation; sensor Abdulrahim, Khairi Hide, Christopher Moore, Terry Hill, Chris Increased error observability of an inertial pedestrian navigation system by rotating IMU |
| title | Increased error observability of an inertial pedestrian navigation system by rotating IMU |
| title_full | Increased error observability of an inertial pedestrian navigation system by rotating IMU |
| title_fullStr | Increased error observability of an inertial pedestrian navigation system by rotating IMU |
| title_full_unstemmed | Increased error observability of an inertial pedestrian navigation system by rotating IMU |
| title_short | Increased error observability of an inertial pedestrian navigation system by rotating IMU |
| title_sort | increased error observability of an inertial pedestrian navigation system by rotating imu |
| topic | error observability; inertial; low-cost; pedestrian navigation; sensor |
| url | https://eprints.nottingham.ac.uk/33191/ https://eprints.nottingham.ac.uk/33191/ https://eprints.nottingham.ac.uk/33191/ |