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Use of high sensitivity GNSS receiver Doppler measurements for indoor pedestrian dead reckoning.

He Z, Renaudin V, Petovello MG, Lachapelle G - Sensors (Basel) (2013)

Bottom Line: Dead-reckoning (DR) algorithms, which use self-contained inertial sensors combined with gait analysis, have proven to be effective for pedestrian navigation purposes.In such DR systems, the primary error is often due to accumulated heading drifts.Real experimental data is processed and analyzed to assess the veracity of proposed method.

View Article: PubMed Central - PubMed

Affiliation: PLAN Group, Schulich School of Engineering, The University of Calgary, 2500 University Drive NW, Calgary, AB T2N 1N4, Canada. zhehe@ucalgary.ca

ABSTRACT
Dead-reckoning (DR) algorithms, which use self-contained inertial sensors combined with gait analysis, have proven to be effective for pedestrian navigation purposes. In such DR systems, the primary error is often due to accumulated heading drifts. By tightly integrating global navigation satellite system (GNSS) Doppler measurements with DR, such accumulated heading errors can usually be accurately compensated. Under weak signal conditions, high sensitivity GNSS (HSGNSS) receivers with block processing techniques are often used, however, the Doppler quality of such receivers is relatively poor due to multipath, fading and signal attenuation. This often limits the benefits of integrating HSGNSS Doppler with DR. This paper investigates the benefits of using Doppler measurements from a novel direct vector HSGNSS receiver with pedestrian dead-reckoning (PDR) for indoor navigation. An indoor signal and multipath model is introduced which explains how conventional HSGNSS Doppler measurements are affected by indoor multipath. Velocity and Doppler estimated by using direct vector receivers are introduced and discussed. Real experimental data is processed and analyzed to assess the veracity of proposed method. It is shown when integrating HSGNSS Doppler with PDR algorithm, the proposed direct vector method are more helpful than conventional block processing method for the indoor environments considered herein.

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Cumulative histograms of horizontal and vertical position errors.
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f13-sensors-13-04303: Cumulative histograms of horizontal and vertical position errors.

Mentions: To further analyze the results, the cumulative histograms of the horizontal and vertical position errors are given in Figure 13. Two key things are worth noting. First, the errors are clearly non-Gaussian, which is not surprising given the operating environment and the high probability of highly-varying NLOS errors. Second, it can be observed that the proposed method has considerably better horizontal positioning performance compared to the conventional HSGPS/PDR solution. For the vertical position error, both solutions are similar until about 7 m, at which point the proposed method begins to outperform the conventional HSGPS/PDR solution.


Use of high sensitivity GNSS receiver Doppler measurements for indoor pedestrian dead reckoning.

He Z, Renaudin V, Petovello MG, Lachapelle G - Sensors (Basel) (2013)

Cumulative histograms of horizontal and vertical position errors.
© Copyright Policy
Related In: Results  -  Collection

License
Show All Figures
getmorefigures.php?uid=PMC3673085&req=5

f13-sensors-13-04303: Cumulative histograms of horizontal and vertical position errors.
Mentions: To further analyze the results, the cumulative histograms of the horizontal and vertical position errors are given in Figure 13. Two key things are worth noting. First, the errors are clearly non-Gaussian, which is not surprising given the operating environment and the high probability of highly-varying NLOS errors. Second, it can be observed that the proposed method has considerably better horizontal positioning performance compared to the conventional HSGPS/PDR solution. For the vertical position error, both solutions are similar until about 7 m, at which point the proposed method begins to outperform the conventional HSGPS/PDR solution.

Bottom Line: Dead-reckoning (DR) algorithms, which use self-contained inertial sensors combined with gait analysis, have proven to be effective for pedestrian navigation purposes.In such DR systems, the primary error is often due to accumulated heading drifts.Real experimental data is processed and analyzed to assess the veracity of proposed method.

View Article: PubMed Central - PubMed

Affiliation: PLAN Group, Schulich School of Engineering, The University of Calgary, 2500 University Drive NW, Calgary, AB T2N 1N4, Canada. zhehe@ucalgary.ca

ABSTRACT
Dead-reckoning (DR) algorithms, which use self-contained inertial sensors combined with gait analysis, have proven to be effective for pedestrian navigation purposes. In such DR systems, the primary error is often due to accumulated heading drifts. By tightly integrating global navigation satellite system (GNSS) Doppler measurements with DR, such accumulated heading errors can usually be accurately compensated. Under weak signal conditions, high sensitivity GNSS (HSGNSS) receivers with block processing techniques are often used, however, the Doppler quality of such receivers is relatively poor due to multipath, fading and signal attenuation. This often limits the benefits of integrating HSGNSS Doppler with DR. This paper investigates the benefits of using Doppler measurements from a novel direct vector HSGNSS receiver with pedestrian dead-reckoning (PDR) for indoor navigation. An indoor signal and multipath model is introduced which explains how conventional HSGNSS Doppler measurements are affected by indoor multipath. Velocity and Doppler estimated by using direct vector receivers are introduced and discussed. Real experimental data is processed and analyzed to assess the veracity of proposed method. It is shown when integrating HSGNSS Doppler with PDR algorithm, the proposed direct vector method are more helpful than conventional block processing method for the indoor environments considered herein.

Show MeSH
Related in: MedlinePlus