Development of Sensing System for Indoor Navigation of Visually Impaired Person with Inertial and Geomagnetic information

摘要

Motivated by the need of the assistance of indoor guidance for the visually impaired persons (VIPs), a sensing system is developed to estimate indoor location with inertial and geomagnetic information. By analyzing the characters of human gait, a method to eliminate the accumulated drift is introduced. Sensor fusion algorithms are developed to correct the accumulated drift by introducing geomagnetic information. Magnetic tensor is introduced to extract the magnetic distortion, which is utilized by an improved subsequence Dynamic Time Warping (DTW) method for indoor localization. A prototype of the sensing system is developed to experimentally validate and demonstrate the design of the sensor fusion algorithms and indoor sensing system.