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

Cover
Title Page
Copyright
Contents
Author Biographies
List of Figures
List of Tables
Chapter 1 Introduction
	1.1 Navigation
	1.2 Inertial Navigation
	1.3 Pedestrian Inertial Navigation
		1.3.1 Approaches
		1.3.2 IMU Mounting Positions
		1.3.3 Summary
	1.4 Aiding Techniques for Inertial Navigation
		1.4.1 Non‐self‐contained Aiding Techniques
			1.4.1.1 Aiding Techniques Based on Natural Signals
			1.4.1.2 Aiding Techniques Based on Artificial Signals
		1.4.2 Self‐contained Aiding Techniques
	1.5 Outline of the Book
	References
	References
Chapter 2 Inertial Sensors and Inertial Measurement Units
	2.1 Accelerometers
		2.1.1 Static Accelerometers
		2.1.2 Resonant Accelerometers
	2.2 Gyroscopes
		2.2.1 Mechanical Gyroscopes
		2.2.2 Optical Gyroscopes
			2.2.2.1 Ring Laser Gyroscopes
			2.2.2.2 Fiber Optic Gyroscopes
		2.2.3 Nuclear Magnetic Resonance Gyroscopes
		2.2.4 MEMS Vibratory Gyroscopes
			2.2.4.1 Principle of Operation
			2.2.4.2 Mode of Operation
			2.2.4.3 Error Analysis
	2.3 Inertial Measurement Units
		2.3.1 Multi‐sensor Assembly Approach
		2.3.2 Single‐Chip Approach
		2.3.3 Device Folding Approach
		2.3.4 Chip‐Stacking Approach
	2.4 Conclusions
	References
Chapter 3 Strapdown Inertial Navigation Mechanism
	3.1 Reference Frame
	3.2 Navigation Mechanism in the Inertial Frame
	3.3 Navigation Mechanism in the Navigation Frame
	3.4 Initialization
		3.4.1 Tilt Sensing
		3.4.2 Gyrocompassing
		3.4.3 Magnetic Heading Estimation
	3.5 Conclusions
	References
Chapter 4 Navigation Error Analysis in Strapdown Inertial Navigation
	4.1 Error Source Analysis
		4.1.1 Inertial Sensor Errors
		4.1.2 Assembly Errors
		4.1.3 Definition of IMU Grades
			4.1.3.1 Consumer Grade
			4.1.3.2 Industrial Grade
			4.1.3.3 Tactical Grade
			4.1.3.4 Navigation Grade
	4.2 IMU Error Reduction
		4.2.1 Six‐Position Calibration
		4.2.2 Multi‐position Calibration
	4.3 Error Accumulation Analysis
		4.3.1 Error Propagation in Two‐Dimensional Navigation
		4.3.2 Error Propagation in Navigation Frame
	4.4 Conclusions
	References
Chapter 5 Zero‐Velocity Update Aided Pedestrian Inertial Navigation
	5.1 Zero‐Velocity Update Overview
	5.2 Zero‐Velocity Update Algorithm
		5.2.1 Extended Kalman Filter
		5.2.2 EKF in Pedestrian Inertial Navigation
		5.2.3 Zero‐Velocity Update Implementation
	5.3 Parameter Selection
	5.4 Conclusions
	References
Chapter 6 Navigation Error Analysis in the ZUPT‐Aided Pedestrian Inertial Navigation
	6.1 Human Gait Biomechanical Model
		6.1.1 Foot Motion in Torso Frame
		6.1.2 Foot Motion in Navigation Frame
		6.1.3 Parameterization of Trajectory
	6.2 Navigation Error Analysis
		6.2.1 Starting Point
		6.2.2 Covariance Increase During Swing Phase
		6.2.3 Covariance Decrease During the Stance Phase
		6.2.4 Covariance Level Estimation
		6.2.5 Observations
	6.3 Verification of Analysis
		6.3.1 Numerical Verification
			6.3.1.1 Effect of ARW
			6.3.1.2 Effect of VRW
			6.3.1.3 Effect of RRW
		6.3.2 Experimental Verification
	6.4 Limitations of the ZUPT Aiding Technique
	6.5 Conclusions
	References
Chapter 7 Navigation Error Reduction in the ZUPT‐Aided Pedestrian Inertial Navigation
	7.1 IMU‐Mounting Position Selection
		7.1.1 Data Collection
		7.1.2 Data Averaging
		7.1.3 Data Processing Summary
		7.1.4 Experimental Verification
	7.2 Residual Velocity Calibration
	7.3 Gyroscope G‐Sensitivity Calibration
	7.4 Navigation Error Compensation Results
	7.5 Conclusions
	References
Chapter 8 Adaptive ZUPT‐Aided Pedestrian Inertial Navigation
	8.1 Floor Type Detection
		8.1.1 Algorithm Overview
		8.1.2 Algorithm Implementation
			8.1.2.1 Data Partition
			8.1.2.2 Principal Component Analysis
			8.1.2.3 Artificial Neural Network
			8.1.2.4 Multiple Model EKF
		8.1.3 Navigation Result
		8.1.4 Summary
	8.2 Adaptive Stance Phase Detection
		8.2.1 Zero‐Velocity Detector
		8.2.2 Adaptive Threshold Determination
		8.2.3 Experimental Verification
		8.2.4 Summary
	8.3 Conclusions
	References
Chapter 9 Sensor Fusion Approaches
	9.1 Magnetometry
	9.2 Altimetry
	9.3 Computer Vision
	9.4 Multiple‐IMU Approach
	9.5 Ranging Techniques
		9.5.1 Introduction to Ranging Techniques
			9.5.1.1 Time of Arrival
			9.5.1.2 Received Signal Strength
			9.5.1.3 Angle of Arrival
		9.5.2 Ultrasonic Ranging
			9.5.2.1 Foot‐to‐Foot Ranging
			9.5.2.2 Directional Ranging
		9.5.3 Ultrawide Band Ranging
	9.6 Conclusions
	References
Chapter 10 Perspective on Pedestrian Inertial Navigation Systems
	10.1 Hardware Development
	10.2 Software Development
	10.3 Conclusions
	References
Index
IEEE Press Series on Sensors
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