A Study on Indoor Positioning based on Pedestrian Dead Reckoning Using Inertial Measurement Unit

doi:10.15683/kosdi.2021.9.30.521

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2021 Vol.17, Issue 3 Preview Page Next Page

Original Article

A Study on Indoor Positioning based on Pedestrian Dead Reckoning Using Inertial Measurement Unit IMU 센서를 사용한 보행항법 기반 실내 위치 측위 연구: 이정표¹ㆍ박경은²ㆍ김영억³*
Jeongpyo Lee¹, Kyung-Eun Park², Youngok Kim³*; ¹Graduate student, Electronic Engineering Department, Kwangwoon University, Seoul, Republic of Korea
²Graduate student, Electronic Engineering Department, Kwangwoon University, Seoul, Republic of Korea
³Professor, Electronic Engineering Department, Kwangwoon University, Seoul, Republic of Korea

30 September 2021. pp. 521-534

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Abstract

Purpose: In this paper, we propose an indoor positioning scheme based on pedestrian dead reckoning using inertial measurement unit. By minimizing the effects of the orientation error of smart-phone, the more accurate estimation for the direction, the step count, and the stride can be achieved. Method: The effectiveness and the performance of the proposed scheme is evaluated by experiments, and it is compared with the conventional scheme in the same conditions. Result: The results showed that the positioning error of the proposed scheme was 0.76m, while that of the conventional scheme was 1.84m. Conclusion: Sine most people carry his/her own smart-phone, the proposed scheme can be helpful to recognize where he/she was and was heading when the fast evacuation is needed in indoors.

Keywords

Positioning

PDR

IMU Sensor

Smart-phone

연구목적: 본 논문에서는 스마트 폰의 IMU센서를 사용한 PDR 방식의 실내 위치 추적 기법을 제안하고자 하며, 보다 정확한 추정을 위해 스마트 폰의 자세 변화로 인한 오류를 최소화하여 이동방향, 걸음 수, 보폭의 세 가지 정보를 추정하는 방법을 제안하고자 한다. 연구방법: 제안된 기법의 유효성과 성능을 실험을 통해 확인하고자 하였으며, 동일한 조건에서 기존 성능기법과 비교해 본 논문에서 제안하는 기법을 입증 하고자 한다. 연구결과: 실험을 통해 측정된 측위 오차는 기존 기법의 평균 오차가 1.84m이고, 제안된 기법의 평균 오차는 0.76m로서 제안된 기법이 기존 기법보다 보행자의 실제 이동 방향과 위치를 더욱 정확하게 추정할 수 있음을 확인하였다. 결론: 본 논문에서 제안하는 스마트 폰의 IMU센서를 사용한 PDR 방식의 실내 위치 추적 기법은 모든 국민이 보유한 스마트 폰을 활용하여 재난 시 신속한 대피를 위한 자신의 위치 인식 및 이동 방향 인식에 활용이 가능할 것으로 기대된다.

키워드

측위

보행항법

관성센서

스마트 폰

References

Beauregard, S., Haas, H. (2006). "Pedestrian dead reckoning: A basis for personal positioning." Proceeding of the 3rd Workshop on Positioning, Navigation and Communication (WPNC ’06), Hannover, Germany, pp. 27-35.
Bisio, I., Cerruti, M., Lavagetto, F., Marchese, M., Pastorino, M., Randazzo, A., Sciarrone, A. (2014). "A trainingless wifi fingerprint positioning approach over mobile devices." IEEE Antennas and Wireless Propagation Letters, Vol. 13, pp. 832-835. 10.1109/LAWP.2014.2316973
Deak, G., Curran, K., Condell, J. (2012). "A survey of active and passive indoor localisation systems." Computer Communications, Vol. 35, pp. 1939-1954. 10.1016/j.comcom.2012.06.004
Fischer, C., Gellersen, H. (2009). "Location and navigation support for emergency responders: A survey." Pervasive Computing, IEEE, Vol. 9, No. 1, pp. 1536-1268. 10.1109/MPRV.2009.91
Harle, R. (2013). "A survey of indoor inertial positioning systems for pedestrians." IEEE Communications Survey & Tutorials, Vol. 15, No. 3, pp. 1281-1293. 10.1109/SURV.2012.121912.00075
Kim, N., Jo, U., Yun, K., Jeon, H., Kim, Y. (2015). "A hybrid positioning scheme exploiting sensors and RSS of Wi-Fi signals." Wireless Personal Communications, Vol. 85, No. 3, pp. 1111-1121. 10.1007/s11277-015-2829-9
Kuutti, S., Fallah, S., Katsaros, K., Dianati, M., Mccullough, F., Mouzakitis, A. (2018). "A survey of the state-of-the-art localization techniques and their potentials for autonomous vehicle applications." IEEE Internet of Things Journal, Vol. 5, No. 2, pp. 829-846. 10.1109/JIOT.2018.2812300
Park, S., Lee, J.H., Park, C.G. (2021). "Robust pedestrian dead reckoning for multiple poses in smartphones." in IEEE Access, Vol. 9, pp. 54498-54508. 10.1109/ACCESS.2021.3070647
Talvitie, J., Sydanheimo, L., Lohan, E., Ukkonen, L. (2015). "Hybrid WLAN-RFID indoor localization solution utilizing textile tag." IEEE Antennas and Wireless Propagation Letters, Vol. 14, pp. 1358-1361. 10.1109/LAWP.2015.2406951
Valenti, R.G., Dryanovski, I., Xiao, J. (2015). "Keeping a good attitude: A quaternion-based orientation filter for IMUs and MARGs." Sensors, Vol.15, No.8, pp. 19302-19330. 10.3390/s150819302 26258778 PMC4570372
Villania, V., Pini, F., Leali, F., Secchi, C. (2018). "Survey on human - robot collaboration in industrial settings: Safety, intuitive interfaces and applications." Mechatronics, Vol. 55, pp. 248-266. 10.1016/j.mechatronics.2018.02.009
Zhou, B., Kim, N., Kim, Y., (2016). "A passive indoor tracking scheme with geometrical formulation." IEEE Antennas and Wireless Propagation Letters, Vol. 15, pp. 1815-1818. 10.1109/LAWP.2016.2537842

Information

Publisher :The Korean Society of Disaster Information
Publisher(Ko) :한국재난정보학회
Journal Title :Journal of the Society of Disaster Information
Journal Title(Ko) :한국재난정보학회논문집
Volume : 17
No :3
Pages :521-534
DOI :https://doi.org/10.15683/kosdi.2021.9.30.521

[1] Beauregard, S., Haas, H. (2006). "Pedestrian dead reckoning: A basis for personal positioning." Proceeding of the 3rd Workshop on Positioning, Navigation and Communication (WPNC ’06), Hannover, Germany, pp. 27-35.

[2] Bisio, I., Cerruti, M., Lavagetto, F., Marchese, M., Pastorino, M., Randazzo, A., Sciarrone, A. (2014). "A trainingless wifi fingerprint positioning approach over mobile devices." IEEE Antennas and Wireless Propagation Letters, Vol. 13, pp. 832-835. 10.1109/LAWP.2014.2316973

[3] Deak, G., Curran, K., Condell, J. (2012). "A survey of active and passive indoor localisation systems." Computer Communications, Vol. 35, pp. 1939-1954. 10.1016/j.comcom.2012.06.004

[4] Fischer, C., Gellersen, H. (2009). "Location and navigation support for emergency responders: A survey." Pervasive Computing, IEEE, Vol. 9, No. 1, pp. 1536-1268. 10.1109/MPRV.2009.91

[5] Harle, R. (2013). "A survey of indoor inertial positioning systems for pedestrians." IEEE Communications Survey & Tutorials, Vol. 15, No. 3, pp. 1281-1293. 10.1109/SURV.2012.121912.00075

[6] Kim, N., Jo, U., Yun, K., Jeon, H., Kim, Y. (2015). "A hybrid positioning scheme exploiting sensors and RSS of Wi-Fi signals." Wireless Personal Communications, Vol. 85, No. 3, pp. 1111-1121. 10.1007/s11277-015-2829-9

[7] Kuutti, S., Fallah, S., Katsaros, K., Dianati, M., Mccullough, F., Mouzakitis, A. (2018). "A survey of the state-of-the-art localization techniques and their potentials for autonomous vehicle applications." IEEE Internet of Things Journal, Vol. 5, No. 2, pp. 829-846. 10.1109/JIOT.2018.2812300

[8] Park, S., Lee, J.H., Park, C.G. (2021). "Robust pedestrian dead reckoning for multiple poses in smartphones." in IEEE Access, Vol. 9, pp. 54498-54508. 10.1109/ACCESS.2021.3070647

[9] Talvitie, J., Sydanheimo, L., Lohan, E., Ukkonen, L. (2015). "Hybrid WLAN-RFID indoor localization solution utilizing textile tag." IEEE Antennas and Wireless Propagation Letters, Vol. 14, pp. 1358-1361. 10.1109/LAWP.2015.2406951

[10] Valenti, R.G., Dryanovski, I., Xiao, J. (2015). "Keeping a good attitude: A quaternion-based orientation filter for IMUs and MARGs." Sensors, Vol.15, No.8, pp. 19302-19330. 10.3390/s150819302 26258778 PMC4570372

[11] Villania, V., Pini, F., Leali, F., Secchi, C. (2018). "Survey on human - robot collaboration in industrial settings: Safety, intuitive interfaces and applications." Mechatronics, Vol. 55, pp. 248-266. 10.1016/j.mechatronics.2018.02.009

[12] Zhou, B., Kim, N., Kim, Y., (2016). "A passive indoor tracking scheme with geometrical formulation." IEEE Antennas and Wireless Propagation Letters, Vol. 15, pp. 1815-1818. 10.1109/LAWP.2016.2537842

Journal of the Society of Disaster Information ISSN:1976-2208(Print) 2671-5287(Online) 한국재난정보학회논문집

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