Strap-Down Pedestrian Dead-Reckoning System

For my bachelor's thesis project I built a waist-worn Pedestrian Dead Reckoning (PDR) System that requires minimal end-user cali-bration. The PDR system is based on an Inertial Measurement Unit (IMU) comprising of a tri-axial accelerometer, a tri-axial magnetometer and a tri-axial gyroscope. We propose a novel heading estimation scheme using a Quaternion-based Extended Kalman Filter that estimates magnetic disturbances and corrects for them. Accelerometer measurements are used to detect step events and to estimate step lengths. I performed experiments on 12 users and found that I could obtain a relative distance error of about 3% to 8% using my system.



A user wearing the belt mounted with the IMU.


A graph of the acceleration measured at different points in a walk-step.


A side-by-side comparison of the estimated position with and without correction.


Publications

Strap-Down Pedestrian Dead-Reckoning System, Pragun Goyal, Vinay J. Ribeiro, Huzur Saran, and Anshul Kumar, 2011 International Conference on Indoor Positioning and Indoor Navigation (IPIN), 21-23 September 2011 ,GUIMARÀƒES,PORTUGAL