We consider personal navigation systems in devices equipped with inertial sensors and GPS, where we propose an improved Pedestrian Dead Reckoning (PDR) algorithm that learns gait parameters in time intervals when position estimates are available, for instance from GPS or an indoor positioning system (IPS). A novel filtering approach is proposed that is able to learn internal gait parameters in the PDR algorithm, such as the step length and the step detection threshold. Our approach is based on a multi-rate Kalman filter bank that estimates the gait parameters when position measurements are available, which improves PDR in time intervals when the position is not available, for instance when passing from outdoor to indoor environments where IPS is not available. The effectiveness of the new approach is illustrated on several real world experiments.


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    Title :

    Improved Pedestrian Dead Reckoning Positioning With Gait Parameter Learning



    Publication date :

    2016-01-01


    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



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