관성 측정 장치를 활용한 보행자 추측 항법 시스템의 구현

Abstract

Nowadays, there are a variety of studies for providing indoor positioning service to pedestrian. global positioning system (GPS) is the best positioning system, but it is not good in indoor environment because attenuation of the GPS signal is severely occurred in indoor environment. For indoor positioning system, many researchers are studying a position estimation methods such as UWB (Ultra Wide Band), WLAN (Wireless Local Area Network), and etc. The pedestrian dead-reckoning (PDR) system using inertial measurement unit (IMU) does not require additional external devices. The position of pedestrian is estimated by analyzing the signal pattern by itself. In general, PDR system shows different performances according to the position of sensors attached to the body. In this paper, PDR system using the 2 synchronized IMUs (waist-mounted IMU and foot-mounted IMU) is proposed. Both step detection and step length estimation is performed by using gyroscope sensor in foot-mounted IMU. On the other hand, heading estimation is operated in the waist-mounted IMU. Also, to reduce drift error from integration of gyroscope, static state detection process is implemented. In this paper, the performances of the waist-mounted PDR and foot-mounted PDR systems are compared and evaluated with positioning accuracy of the pedestrian.