A state constraint kalman filter for pedestrian navigation with low cost MEMS inertial sensors

27th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2014

Volumn 1, Issue , 2014, Pages 579-589

  Lan, Haiyu ^a   El Sheimy, Naser ^a  

^a UNIVERSITY OF CALGARY   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

AIR NAVIGATION; INERTIAL NAVIGATION SYSTEMS; KALMAN FILTERS; NAVIGATION;

EXTERNAL INFORMATIONS; MEMS INERTIAL SENSORS; MEMS SENSORS; PEDESTRIAN NAVIGATION; POSITIONING ACCURACY; POSITIONING ERROR; STATE CONSTRAINTS; UPPER BODIES;

GLOBAL POSITIONING SYSTEM;

EID: 84939233705     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (22)

1. E. Foxlin, "Pedestrian tracking with shoe-mounted inertial sensors, " Computer Graphics and Applications, IEEE, vol. 25, pp. 38-46, 2005.
2. S. Godha, G. Lachapelle, and M. Cannon, "Integrated GPS/INS system for pedestrian navigation in a signal degraded environment, " in ION GNSS, 2006.
3. S. Saeedi, A. Moussa, and N. El-Sheimy, "Context-Aware Personal Navigation Using Embedded Sensor Fusion in Smartphones, " Sensors, vol. 14, pp. 5742-5767, 2014.
4. A. Ali, S. Siddharth, Z. Syed, and N. El-Sheimy, "An improved personal dead-reckoning algorithm for dynamically changing smartphone user modes, " in Proceedings of the 25th International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS), 2012, pp. 2432-2439.
5. J.-O. Nilsson, I. Skog, and P. Handel, "Performance characterisation of foot-mounted ZUPT-aided INSs and other related systems, " in Indoor Positioning and Indoor Navigation (IPIN), 2010 International Conference on, 2010, pp. 1-7.
6. J.-O. Nilsson, I. Skog, and P. Handel, "A note on the limitations of ZUPTs and the implications on sensor error modeling, " in Proceeding of 2012 International Conference on Indoor Positioning and Indoor Navigation (IPIN), 13-15th November 2012, 2012.
7. J.-O. Nilsson, D. Zachariah, I. Skog, and P. Handel, "Cooperative localization by dual foot-mounted inertial sensors and inter-agent ranging, " arXiv preprint arXiv:1304.3663, 2013.
8. D. Simon Colomar, J.-O. Nilsson, and P. Handel, "Smoothing for ZUPT-aided INSs, " in Proceeding of 2012 International Conference on Indoor Positioning and Indoor Navigation, 13-15th November 2012, 2012.
9. I. Skog, J.-O. Nilsson, and P. Handel, "Evaluation of zero-velocity detectors for foot-mounted inertial navigation systems, " in Indoor Positioning and Indoor Navigation (IPIN), 2010 International Conference on, 2010, pp. 1-6.
10. D. Simon and T. L. Chia, "Kalman filtering with state equality constraints, " Aerospace and Electronic Systems, IEEE Transactions on, vol. 38, pp. 128-136, 2002.
11. E. Blasch, T. Nguyen, M. Miller, and C. Yang, "Constrained Estimation for GPS/Digital Map Integration (Postprint), " ed: SIGTEM TECHNOLOGIES INC SAN MATEO CA, 2007.
12. D. Simon and D. L. Simon, "Kalman filtering with inequality constraints for turbofan engine health estimation, " IEE Proceedings-Control Theory and Applications, vol. 153, pp. 371-378, 2006.
13. D. Simon and D. L. Simon, "Constrained Kalman filtering via density function truncation for turbofan engine health estimation, " International Journal of Systems Science, vol. 41, pp. 159-171, 2010.
14. C. Yang, E. Blasch, and P. Douville, "Design of Schmidt-Kalman filter for target tracking with navigation errors, " in Aerospace Conference, 2010 IEEE, 2010, pp. 1-12.
15. D. Zachariah, I. Skog, M. Jansson, and P. Handel, "Bayesian estimation with distance bounds, " Signal Processing Letters, IEEE, vol. 19, pp. 880-883, 2012.
16. G. Prateek, R. Girisha, K. Hari, and P. Handel, "Data Fusion of Dual Foot-Mounted INS to Reduce the Systematic Heading Drift, " in Intelligent Systems Modelling & Simulation (ISMS), 2013 4th International Conference on, 2013, pp. 208-213.
17. I. Skog, J.-O. Nilsson, D. Zachariah, and P. Handel, "Fusing the information from two navigation systems using an upper bound on their maximum spatial separation, " in Indoor Positioning and Indoor Navigation (IPIN), 2012 International Conference on, 2012, pp. 1-5.
18. K. Hari, J.-O. Nilsson, I. Skog, P. Handel, J. Rantakokko, and G. Prateek, "A prototype of a first-responder indoor localization system, " Journal of the Indian Institute of Science, vol. 93, pp. 511-520, 2013.
19. F. Zampella, A. De-Angelis, I. Skog, D. Zachariah, and A. Jimenez, "A constraint approach for UWB and PDR fusion, " in International Conference on Indoor Positioning and Indoor Navigation, 2012. p. 15th.
20. B. D. Anderson and J. B. Moore, Optimal filtering: Courier Dover Publications, 2012.
21. A. Noureldin, T. B. Karamat, and J. Georgy, Fundamentals of Inertial Navigation, Satellite-Based Positioning and Their Integration: Springer, 2013.
22. I. Skog, "A low-cost GPS aided inertial navigation system for vehicular applications, " KTH Signals Sensors and Systems, p. 49, 2005.