Pedestrian Inertial Navigation with Self-Contained Aiding (IEEE Press Series on Sensors)

193 Pages·2021·5.256 MB·English

by  Andrei M. Shkel

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PedestrianInertialNavigationwithSelf-ContainedAiding
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IEEEPress
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ElyaB.Joffe SaeidNahavandi AhmetMuratTekalp
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Pedestrian Inertial Navigation with
Self-Contained Aiding
Yusheng Wang and Andrei M. Shkel
UniversityofCalifornia,Irvine
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IEEEPressSeriesonSensors
VladimirLumelsky,SeriesEditor
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v
Contents
AuthorBiographies xi
ListofFigures xiii
ListofTables xix
1 Introduction 1
1.1 Navigation 1
1.2 InertialNavigation 2
1.3 PedestrianInertialNavigation 5
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1.3.1 Approaches 6
1.3.2 IMUMountingPositions 7
1.3.3 Summary 8
1.4 AidingTechniquesforInertialNavigation 9
1.4.1 Non-self-containedAidingTechniques 9
1.4.1.1 AidingTechniquesBasedonNaturalSignals 9
1.4.1.2 AidingTechniquesBasedonArtificialSignals 10
1.4.2 Self-containedAidingTechniques 11
1.5 OutlineoftheBook 13
References 13
2 InertialSensorsandInertialMeasurementUnits 17
2.1 Accelerometers 17
2.1.1 StaticAccelerometers 17
2.1.2 ResonantAccelerometers 19
2.2 Gyroscopes 21
2.2.1 MechanicalGyroscopes 21
2.2.2 OpticalGyroscopes 22
2.2.2.1 RingLaserGyroscopes 22
2.2.2.2 FiberOpticGyroscopes 23
2.2.3 NuclearMagneticResonanceGyroscopes 24
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2.2.4 MEMSVibratoryGyroscopes 24
2.2.4.1 PrincipleofOperation 25
2.2.4.2 ModeofOperation 25
2.2.4.3 ErrorAnalysis 27
2.3 InertialMeasurementUnits 28
2.3.1 Multi-sensorAssemblyApproach 28
2.3.2 Single-ChipApproach 29
2.3.3 DeviceFoldingApproach 30
2.3.4 Chip-StackingApproach 31
2.4 Conclusions 32
References 32
3 StrapdownInertialNavigationMechanism 37
3.1 ReferenceFrame 37
3.2 NavigationMechanismintheInertialFrame 38
3.3 NavigationMechanismintheNavigationFrame 40
3.4 Initialization 41
3.4.1 TiltSensing 42
3.4.2 Gyrocompassing 43
3.4.3 MagneticHeadingEstimation 44
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3.5 Conclusions 45
References 45
4 NavigationErrorAnalysisinStrapdownInertial
Navigation 47
4.1 ErrorSourceAnalysis 47
4.1.1 InertialSensorErrors 48
4.1.2 AssemblyErrors 51
4.1.3 DefinitionofIMUGrades 53
4.1.3.1 ConsumerGrade 54
4.1.3.2 IndustrialGrade 54
4.1.3.3 TacticalGrade 55
4.1.3.4 NavigationGrade 55
4.2 IMUErrorReduction 55
4.2.1 Six-PositionCalibration 55
4.2.2 Multi-positionCalibration 57
4.3 ErrorAccumulationAnalysis 57
4.3.1 ErrorPropagationinTwo-DimensionalNavigation 58
4.3.2 ErrorPropagationinNavigationFrame 61
4.4 Conclusions 62
References 63
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Contents vii
5 Zero-VelocityUpdateAidedPedestrianInertial
Navigation 65
5.1 Zero-VelocityUpdateOverview 65
5.2 Zero-VelocityUpdateAlgorithm 68
5.2.1 ExtendedKalmanFilter 68
5.2.2 EKFinPedestrianInertialNavigation 70
5.2.3 Zero-VelocityUpdateImplementation 70
5.3 ParameterSelection 73
5.4 Conclusions 76
References 76
6 NavigationErrorAnalysisintheZUPT-AidedPedestrian
InertialNavigation 79
6.1 HumanGaitBiomechanicalModel 79
6.1.1 FootMotioninTorsoFrame 80
6.1.2 FootMotioninNavigationFrame 80
6.1.3 ParameterizationofTrajectory 81
6.2 NavigationErrorAnalysis 83
6.2.1 StartingPoint 83
6.2.2 CovarianceIncreaseDuringSwingPhase 84
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6.2.3 CovarianceDecreaseDuringtheStancePhase 87
6.2.4 CovarianceLevelEstimation 88
6.2.5 Observations 92
6.3 VerificationofAnalysis 93
6.3.1 NumericalVerification 93
6.3.1.1 EffectofARW 93
6.3.1.2 EffectofVRW 95
6.3.1.3 EffectofRRW 95
6.3.2 ExperimentalVerification 96
6.4 LimitationsoftheZUPTAidingTechnique 99
6.5 Conclusions 100
References 101
7 NavigationErrorReductionintheZUPT-AidedPedestrian
InertialNavigation 103
7.1 IMU-MountingPositionSelection 104
7.1.1 DataCollection 105
7.1.2 DataAveraging 105
7.1.3 DataProcessingSummary 107
7.1.4 ExperimentalVerification 109
7.2 ResidualVelocityCalibration 110
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7.3 GyroscopeG-SensitivityCalibration 115
7.4 NavigationErrorCompensationResults 117
7.5 Conclusions 119
References 119
8 AdaptiveZUPT-AidedPedestrianInertialNavigation 121
8.1 FloorTypeDetection 121
8.1.1 AlgorithmOverview 122
8.1.2 AlgorithmImplementation 123
8.1.2.1 DataPartition 123
8.1.2.2 PrincipalComponentAnalysis 124
8.1.2.3 ArtificialNeuralNetwork 125
8.1.2.4 MultipleModelEKF 127
8.1.3 NavigationResult 129
8.1.4 Summary 130
8.2 AdaptiveStancePhaseDetection 130
8.2.1 Zero-VelocityDetector 131
8.2.2 AdaptiveThresholdDetermination 131
8.2.3 ExperimentalVerification 135
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8.2.4 Summary 136
8.3 Conclusions 138
References 139
9 SensorFusionApproaches 141
9.1 Magnetometry 141
9.2 Altimetry 142
9.3 ComputerVision 143
9.4 Multiple-IMUApproach 145
9.5 RangingTechniques 146
9.5.1 IntroductiontoRangingTechniques 147
9.5.1.1 TimeofArrival 147
9.5.1.2 ReceivedSignalStrength 147
9.5.1.3 AngleofArrival 148
9.5.2 UltrasonicRanging 149
9.5.2.1 Foot-to-FootRanging 150
9.5.2.2 DirectionalRanging 150
9.5.3 UltrawideBandRanging 153
9.6 Conclusions 154
References 154
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