Single UWB Anchor Aided PDR Heading and Step Length Correcting Indoor Localization System

doi:10.1109/ACCESS.2021.3050405

CORC > 深海科学与工程研究所 > 中国科学院深海科学与工程研究所 > 深海工程技术部 > 深海信息技术研究室

	Single UWB Anchor Aided PDR Heading and Step Length Correcting Indoor Localization System
	Long, Keliu 2,5; Shen, Chong 2,5; Tian, Chuan 4; Zhang, Kun 1,2,5; Bhatti, Uzair Aslam 3; Kong, Darryl Franck Nsalo 2,5; Feng, Shuo 2,5; Cheng, Hesen 2,5
刊名	IEEE ACCESS
	2021
卷号	9 页码:11511-11522
关键词	Location awareness Distance measurement Legged locomotion Estimation Gyroscopes Filtering algorithms Kalman filters Pedestrian dead reckon ultra-wide band indoor localization fusion strategy
ISSN号	2169-3536
DOI	10.1109/ACCESS.2021.3050405
英文摘要	In this paper, we present a simple-structure Pedestrian Dead Reckon (PDR) system based on commercial IMU sensor and UWB ranging system. In PDR system, the accuracy of step and heading angle estimation completely decide the precision of location result. In order to select proper zero-velocity intervals for step and heading estimations in the foot stance/still stage, a modified zero-velocity detection way called Heuristic Step Detection (HSD) has been designed based on zero-velocity update algorithm (ZUPT). Based on the modified zero-velocity detection algorithm, i.e., HSD, an Kalman-type filter is used to get rough heading angle by fusing zero-velocity information and single UWB anchor ranging results. After that, a constrained sigma point based filter is used to further constrain heading angle range. Moreover, the range measures, provided by a UWB localization system with only one reference anchor, are used to correct the pedestrian step length. Trough UWB ranging measures analysis between two consecutive steps, the step length and pedestrian heading direction correcting processes are related to each other, and as a result, a more stable positioning result can be gotten. The corresponding practical experiments are conducted in real indoor environment over 2000 meters, and the results show that, compared with only INS-aided PDR, our scheme can reduce the average position error by more than 80%, and it can achieve long-term high accuracy and robust localization results.
资助项目	National Key Research and Development Program of China[2017YFC0305903] ; High-level Talent Project of Hainan Natural Science Foundation[2019RC236] ; National Natural Science Foundation of China[61861015] ; Key Project of Scientific Research of Higher Education in Hainan Province[Hnky2019ZD-35]
WOS研究方向	Computer Science ; Engineering ; Telecommunications
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000609803500001
资助机构	National Key Research and Development Program of China ; High-level Talent Project of Hainan Natural Science Foundation ; National Natural Science Foundation of China ; Key Project of Scientific Research of Higher Education in Hainan Province
内容类型	期刊论文
源URL	[http://ir.idsse.ac.cn/handle/183446/8383]
专题	深海工程技术部_深海信息技术研究室
通讯作者	Shen, Chong; Tian, Chuan; Zhang, Kun
作者单位	1.Hainan Trop Ocean Univ, Educ Ctr MTA, Sanya 572022, Peoples R China 2.Hainan Univ, State Key Lab Marine Resources Utilizat South Chi, Haikou 570228, Hainan, Peoples R China 3.Nanjing Normal Univ, Sch Geog, Nanjing 210023, Peoples R China 4.Chinese Acad Sci, Inst Deep Sea Sci & Engn, Sanya 572000, Peoples R China 5.Hainan Univ, Coll Informat Sci & Technol, Haikou 570228, Hainan, Peoples R China
推荐引用方式 GB/T 7714	Long, Keliu,Shen, Chong,Tian, Chuan,et al. Single UWB Anchor Aided PDR Heading and Step Length Correcting Indoor Localization System[J]. IEEE ACCESS,2021,9:11511-11522.
APA	Long, Keliu.,Shen, Chong.,Tian, Chuan.,Zhang, Kun.,Bhatti, Uzair Aslam.,...&Cheng, Hesen.(2021).Single UWB Anchor Aided PDR Heading and Step Length Correcting Indoor Localization System.IEEE ACCESS,9,11511-11522.
MLA	Long, Keliu,et al."Single UWB Anchor Aided PDR Heading and Step Length Correcting Indoor Localization System".IEEE ACCESS 9(2021):11511-11522.