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This paper introduces a new sensor fusion approach for using multiple MEMS sensor-based pedestrian navigation systems (PNSs) to enhance the performance of each individual navigation system. First, we propose a novel single IMU-based PNS which integrates both the inertial navigation system (INS) mechanization and the pedestrian dead reckoning (PDR) mechanization. When two identical PNSs are used by...
This paper outlines an indoor navigation algorithm that uses multiple kinds of sensors and technologies, such as 9-axis sensors (i.e., 3D gyros, accelerometers, and magnetometers), WiFi, and magnetic matching. The corresponding real-time software on smartphones includes modules such attitude determination and gyro bias estimation, pedestrian dead-reckoning (PDR), WiFi positioning, and magnetic matching...
This paper provides a real-time attitude determination algorithm using gyros, accelerometers, and magnetometers on consumer portable devices. The main advantage of this algorithm is that uses a Kalman filter algorithm and utilizes multi-level constraints, including pseudo-observation updates, measurements from accelerometers and magnetometers, and the quasi-static attitude updates. Walking tests with...
This paper presents an indoor navigation algorithm that uses multiple kinds of sensors and technologies, such as MEMS sensors (i.e., gyros, accelerometers, magnetometers, and a barometer), WiFi, and magnetic matching. The corresponding real-time software on smartphones includes modules such dead-reckoning, WiFi positioning, and magnetic matching. DR is used for providing continuous position solutions...
This paper presents a real-time calibration method for gyro sensors in consumer portable devices. The calibration happens automatically without the need for external equipment or user intervention. Multilevel constraints, including the pseudoobservations, the accelerometer and magnetometer measurements, and the quasi-static attitude updates, are used to make the method reliable and accurate under...
A novel calibration architecture that calculates the gyro biases without any external equipment and without any user intervention is proposed. This architecture uses a Kalman filter algorithm and utilizes multi-level constraints, such as pseudo-observation updates and the accelerometer and magnetometer measurements. Walking tests with smartphones show that the proposed architecture is effective and...
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