A particle filter for 2D indoor localization relying on magnetic disturbances and magnetic-inertial measurement units
作者： Gabriele Ligorio , Angelo M. Sabatini
关键词: Magnetic field 、 Orientation (geometry) 、 Physics 、 Accelerometer 、 Reference frame 、 Kalman filter 、 Rotation (mathematics) 、 Inertial measurement unit 、 Acoustics 、 Particle filter
摘要: Distortions of the Earth's magnetic field are critical when a sensor is used for aiding orientation estimation, especially indoors. However, based on suitable maps field, spatial patterns indoor fields may aid position estimation. In this paper, we propose method Particle Filter (PF) two-dimensional (2D) localization human walker wearing Magnetic/Inertial Measurement Unit (MIMU) at waist. Magnetic disturbances in global reference frame and pelvis rotation estimated using Kalman-based estimator. The output from an accelerometer-based step detector drive propagation particles; looked up map weight update. proposed PF-based 2D was tested simulated real MIMU data collected healthy subject walking three minutes along eight-shaped paths within 3×2 m area. Using optical motion capture system, positioning accuracy terms Root Mean Square Error (RMSE) about 0.40 m.
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