Investigating Aspects of Heading Estimation Error in Pedestrian Navigation

摘要

An immediate challenge in pedestrian navigation is thernimprovement in the heading of the user, especially, inrnGlobal Navigation Satellite Systems (GNSS) deniedrnenvironments and urban canyons. The solution to thisrnproblem is challenging, as in the case of low speedrnwalking, since the observability of heading is anrnimportant problem to consider. The goal of this work isrnto improve the heading solution for a pedestrian with arnhandheld device such as: Personal Navigation Devicesrn(PNDs), cell-phones, and other such portablernnavigators. To this end, it is indispensable to employrnself-contained, low cost, small size, and power-efficientrnsensors.rnA suitable choice is using a magnetometer. Arnmagnetometer needs calibration before it can bernemployed. A method for fast calibration of the magnetometer and a magnetometer anomaly detectionrnalgorithm will be an important consideration.rnIn this research, the calibrated magnetometerrnmeasurements are used to obtain the true heading angle.rnLab tests have been conducted to promulgate thernmotion modes for calibration, to compare differentrnestimators, and test the validity of using the calibrationrnprocedure seamlessly for indoor and outdoorrnenvironments.