Rotating a mens inertial measurement unit for a foot-mounted pedestrian navigation
Pedestrian navigation especially indoors suffers from the unavailability of useful GNSS signals for positioning. Alternatively, a low-cost Inertial Measurement Unit (IMU) positioning system that does not depend on the GNSS signal can be used for indoor navigation. However its performance is still co...
| Main Authors: | , , , |
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| Format: | Article |
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2014
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| Online Access: | https://eprints.nottingham.ac.uk/33284/ |
| _version_ | 1848794599438417920 |
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| author | Abdulrahim, Khairi Hide, Chris Moore, Terry Hill, Chris |
| author_facet | Abdulrahim, Khairi Hide, Chris Moore, Terry Hill, Chris |
| author_sort | Abdulrahim, Khairi |
| building | Nottingham Research Data Repository |
| collection | Online Access |
| description | Pedestrian navigation especially indoors suffers from the unavailability of useful GNSS signals for positioning. Alternatively, a low-cost Inertial Measurement Unit (IMU) positioning system that does not depend on the GNSS signal can be used for indoor navigation. However its performance is still compromised because of the fast-accumulating heading drift error affecting such a low-cost IMU sensor. This results in a huge positioning error when navigating more than a few seconds using only the low-cost sensor. In this study, real field trials results are presented when a foot-mounted IMU is rotated on a single axis. Two promising results have been obtained. First, it mitigates the heading drift error significantly and second, it increases the observability of IMU z-axis gyro bias error. This has resulted in a greatly reduced error in position for the low-cost pedestrian navigation system. |
| first_indexed | 2025-11-14T19:18:45Z |
| format | Article |
| id | nottingham-33284 |
| institution | University of Nottingham Malaysia Campus |
| institution_category | Local University |
| last_indexed | 2025-11-14T19:18:45Z |
| publishDate | 2014 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | nottingham-332842020-05-04T20:16:00Z https://eprints.nottingham.ac.uk/33284/ Rotating a mens inertial measurement unit for a foot-mounted pedestrian navigation Abdulrahim, Khairi Hide, Chris Moore, Terry Hill, Chris Pedestrian navigation especially indoors suffers from the unavailability of useful GNSS signals for positioning. Alternatively, a low-cost Inertial Measurement Unit (IMU) positioning system that does not depend on the GNSS signal can be used for indoor navigation. However its performance is still compromised because of the fast-accumulating heading drift error affecting such a low-cost IMU sensor. This results in a huge positioning error when navigating more than a few seconds using only the low-cost sensor. In this study, real field trials results are presented when a foot-mounted IMU is rotated on a single axis. Two promising results have been obtained. First, it mitigates the heading drift error significantly and second, it increases the observability of IMU z-axis gyro bias error. This has resulted in a greatly reduced error in position for the low-cost pedestrian navigation system. 2014 Article PeerReviewed Abdulrahim, Khairi, Hide, Chris, Moore, Terry and Hill, Chris (2014) Rotating a mens inertial measurement unit for a foot-mounted pedestrian navigation. Journal of Computer Science, 10 (12). pp. 2619-2627. ISSN 1549-3636 Heading drift; IMU; Pedestrian navigation http://dx.doi.org/10.3844/jcssp.2014.2619.2627 doi:10.3844/jcssp.2014.2619.2627 doi:10.3844/jcssp.2014.2619.2627 |
| spellingShingle | Heading drift; IMU; Pedestrian navigation Abdulrahim, Khairi Hide, Chris Moore, Terry Hill, Chris Rotating a mens inertial measurement unit for a foot-mounted pedestrian navigation |
| title | Rotating a mens inertial measurement unit for a foot-mounted pedestrian navigation |
| title_full | Rotating a mens inertial measurement unit for a foot-mounted pedestrian navigation |
| title_fullStr | Rotating a mens inertial measurement unit for a foot-mounted pedestrian navigation |
| title_full_unstemmed | Rotating a mens inertial measurement unit for a foot-mounted pedestrian navigation |
| title_short | Rotating a mens inertial measurement unit for a foot-mounted pedestrian navigation |
| title_sort | rotating a mens inertial measurement unit for a foot-mounted pedestrian navigation |
| topic | Heading drift; IMU; Pedestrian navigation |
| url | https://eprints.nottingham.ac.uk/33284/ https://eprints.nottingham.ac.uk/33284/ https://eprints.nottingham.ac.uk/33284/ |