Smoothing for ZUPT-aided INSs
2012 (English)In: 2012 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2012 - Conference Proceedings, IEEE conference proceedings, 2012, 6418869- p.Conference paper (Refereed)
Due to the recursive and integrative nature of zero-velocity-update-aided (ZUPT-aided) inertial navigation systems (INSs), the error covariance increases throughout each ZUPT-less period followed by a drastic decrease and large state estimate corrections as soon as ZUPTs are applied. For dead-reckoning with foot-mounted inertial sensors, this gives undesirable discontinuities in the estimated trajectory at the end of each step. However, for many applications, some degree of lag can be tolerated and the information provided by the ZUPTs at the end of a step can be made available throughout the step, eliminating the discontinuities. For this purpose, we propose a smoothing algorithm for ZUPT-aided INSs. For near real-time applications, smoothing is applied to the data in a step-wise manner requiring a suggested varying-lag segmentation rule. For complete off-line processing, full data set smoothing is examined. Finally, the consequences and impact of smoothing are analyzed and quantified based on real-data.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2012. 6418869- p.
, International Conference on Indoor Positioning and Indoor Navigation, ISSN 2162-7347
Data set, Dead reckoning, Error covariances, Inertial sensor, Off-line processing, Real-time application, Smoothing algorithms, State estimates
IdentifiersURN: urn:nbn:se:kth:diva-107414DOI: 10.1109/IPIN.2012.6418869ISI: 000317060600021ScopusID: 2-s2.0-84874260830ISBN: 978-146731954-6OAI: oai:DiVA.org:kth-107414DiVA: diva2:575835
2012 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2012;Sydney, NSW;13 November 2012 through 15 November 2012
FunderICT - The Next Generation
QC 201301142013-01-142012-12-112013-05-23Bibliographically approved