(National Aviation University, 2021-04-28) Lazarevskiy, Alexander; Лазаревський, Олександр Андрійович
The problem of pedestrian dead reckoning (PDR) is referred to the class of individual navigation problems. The common solution in mobile phones is the use of satellite navigation (GPS, GLONASS, Galileo, etc.). But satellite signal sometimes can be jammed intentionally or lost due to obstacles in urban area. Also, the problem of PDR is interesting in the user localization in indoor environment such as large garages, city molls, etc. Instrumentation of smartphones is now based on Micro-Electro-Mechanical Sensors (MEMS) technology and includes standard set of Inertial Measurement Unit (IMU): accelerometers, gyroscopes, magnetometers and pressure sensor (optionally). Accelerometers can be used to detect step events and further to calculate lengths. But it is sensitive to walking speed, slope of the road, etc., which leads to inaccurate results of calculating the stride length. Also, as any dead reckoning technique PDR suffers from the cumulative error. Since the location estimate is always calculated based on the previous result, the error accumulates rapidly over time. This means that correction updates are necessary on regular basis.
