Analytical Closed-Form Estimation of Position Error on ZUPT-Augmented Pedestrian Inertial Navigation

We present an analytical relation between the position estimation uncertainty and inertial measurement unit (IMU) characteristics during zero-velocity-update (ZUPT) augmented pedestrian inertial navigation. The effect of angle random walk of gyroscopes and velocity random walk of accelerometers in IMU on circular error probable is studied. Numerical simulation of the ZUPT-augmented navigation algorithm is conducted based on a generated pedestrian trajectory to verify the analytical results, showing the discrepancy less than 15, which supports the fidelity of the results. Experiments are also conducted, and the results match our analytical prediction, with the error less than 20. This study offers a closed-form analytical expression to predict the performance of ZUPT-augmented pedestrian inertial navigation.

[1]  Fernando Seco Granja,et al.  Indoor pedestrian navigation using an INS/EKF framework for yaw drift reduction and a foot-mounted IMU , 2010, 2010 7th Workshop on Positioning, Navigation and Communication.

[2]  Andrei M. Shkel,et al.  Error Analysis of ZUPT-Aided Pedestrian Inertial Navigation , 2018, 2018 International Conference on Indoor Positioning and Indoor Navigation (IPIN).

[3]  W. Marsden.  I and J , 2012 .

[4]  S. Godha,et al.  Foot mounted inertial system for pedestrian navigation , 2008 .

[5]  Xiaoping Yun,et al.  Self-contained Position Tracking of Human Movement Using Small Inertial/Magnetic Sensor Modules , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[6]  F. Seco,et al.  A comparison of Pedestrian Dead-Reckoning algorithms using a low-cost MEMS IMU , 2009, 2009 IEEE International Symposium on Intelligent Signal Processing.

[7]  Eric Foxlin,et al.  Pedestrian tracking with shoe-mounted inertial sensors , 2005, IEEE Computer Graphics and Applications.

[8]  Qian Song,et al.  A zero velocity intervals detection algorithm based on sensor fusion for indoor pedestrian navigation , 2017, 2017 IEEE 2nd Information Technology, Networking, Electronic and Automation Control Conference (ITNEC).

[9]  John Weston,et al.  Strapdown Inertial Navigation Technology , 1997 .