Preprint Article Version 1 NOT YET PEER-REVIEWED

Dual MIMU Pedestrian Navigation by Inequality Constraint Kalman Filtering

  1. School of Aeronautics and Astronautics, Central South University, Changsha 410083, China
  2. Shanghai Key Laboratory of Navigation and LocationbasedServices, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
Version 1 : Received: 21 November 2016 / Approved: 21 November 2016 / Online: 21 November 2016 (09:57:15 CET)

How to cite: Shi, W.; Wang, Y.; Wu, Y. Dual MIMU Pedestrian Navigation by Inequality Constraint Kalman Filtering. Preprints 2016, 2016110106 (doi: 10.20944/preprints201611.0106.v1). Shi, W.; Wang, Y.; Wu, Y. Dual MIMU Pedestrian Navigation by Inequality Constraint Kalman Filtering. Preprints 2016, 2016110106 (doi: 10.20944/preprints201611.0106.v1).

Abstract

The foot-mounted inertial navigation system is an important application of pedestrian navigation as it in principle does not rely any external assistance. A real-time range decomposition constraint method is proposed in this paper to combine the information of dual foot-mounted inertial navigation systems. It is well known that low-cost inertial sensors with ZUPT (zero-velocity update) and range decomposition constraint perform better than in either single way. This paper recommends that the distance of separation between the position estimates of feet-mounted inertial navigation systems be restricted in the ellipsoidal constraint which relates to the maximum step and leg height. The performance of the proposed method is studied utilizing experimental data. The results indicate that the method can effectively correct the dual navigation systems’ position over the existing spherical constraint.

Subject Areas

inertial navigation system; ZUPT; ellipsoidal constraint; correct position

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