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pdr with a foot-mounted imu and ramp detectionpdr foot-mounted imu和坡道检测
Sensors 2011, 11, 9393-9410; doi:10.3390/s111009393
OPEN ACCESS
sensors
ISSN 1424-8220
/journal/sensors
Article
PDR with a Foot-Mounted IMU and Ramp Detection
´ ⋆ ´
Antonio R. Jimenez , Fernando Seco, Francisco Zampella, Jose C. Prieto and Jorge Guevara
Centre for Automation and Robotics (CAR), Consejo Superior de Investigaciones Cientificas
(CSIC)-UPM, Ctra. Campo Real km 0.2, La Poveda, Arganda del Rey, Madrid, 28500, Spain
⋆ Author to whom correspondence should be addressed; E-Mail: antonio.jimenez@csic.es;
Tel.: +34-918-711-900; Fax: +34-918-717-050.
Received: 5 August 2011; in revised form: 20 September 2011 / Accepted: 26 September 2011 /
Published: 29 September 2011
Abstract: The localization of persons in indoor environments is nowadays an open problem.
There are partial solutions based on the deployment of a network of sensors (Local
Positioning Systems or LPS). Other solutions only require the installation of an inertial
sensor on the person’s body (Pedestrian Dead-Reckoning or PDR). PDR solutions integrate
the signals coming from an Inertial Measurement Unit (IMU), which usually contains
3 accelerometers and 3 gyroscopes. The main problem of PDR is the accumulation of
positioning errors due to the drift caused by the noise in the sensors. This paper presents
a PDR solution that incorporates a drift correction method based on detecting the access
ramps usually fo
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