Integrated pedestrian navigation using GNSS, MEMS IMU, Magnetometer and Baro-altimeter

Man motion is one of the most challenging applications for a navigation system. A common approach to integrated pedestrian navigation (IPN) is to integrate GNSS user equipment and inertial sensors with magnetometers and a barometric altimeter. However, there are a number of different approaches to the use of the inertial sensors, which may be characterised by • The number and quality of inertial sensors to be used; • Whether to mount them on the shoes or the body; • Whether to use conventional inertial navigation algorithms, supported by zero velocity updates (ZVUs), pedestrian dead reckoning (PDR) or both. The trade-offs are discussed. The Micro Electro-Mechanical System (MEMS) Inertial Measurement Unit (IMU) GPS Receiver Module (MIGRM), developed for the UK Ministry of Defence (MOD) is described and the benefits of adding PDR, ZVU, magnetometer and baro measurements to an INS/GPS system with body-mounted sensors are demonstrated. The paper then compares the performance of two new internally-funded systems, developed from MIGRM. IPN system A uses a body-mounted IMU with inertial navigation, ZVUs and PDR. IPN system B uses a shoemounted IMU with inertial navigation and ZVUs during the stance phase of every stride. Both systems successfully bridged a 60 s GPS outage with a position error of less than 10 m. The system B solution exhibited less drift during the outage, but was also noisier. System A was also used to successfully demonstrate PDR during running and jogging motion, though performance was not as good as during walking. Some preliminary results on adopting different step length estimation models for the different motion regimes are then presented.

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