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Communication Dans Un Congrès Année : 2014

Quaternion based heading estimation with handheld MEMS in indoor environments

Valérie Renaudin

Résumé

Pedestrian Dead-Reckoning (PDR) is the prime candidate for autonomous navigation with self-contained sensors. Nevertheless with noisy sensor signals and high hand dynamics, estimating accurate attitude angles remains a challenge for achieving long term positioning accuracy. A new attitude estimation algorithm based on a quaternion parameterization directly in the state vector and two opportunistic updates, i.e. magnetic angular rate update and acceleration gradient update, is proposed. The benefit of this method is assessed both at the theoretical level and at the experimental level. The error on the heading, estimated only with the PDR navigation algorithms, is found to less than 7° after 1 km of walk.
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Dates et versions

hal-01470469 , version 1 (17-02-2017)

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Citer

Valérie Renaudin, Christophe Combettes, François Peyret. Quaternion based heading estimation with handheld MEMS in indoor environments. PLANS 2014, 2014 IEEE/ION Position, Location and Navigation Symposium, May 2014, MONTEREY, United States. pp.645-656, ⟨10.1109/PLANS.2014.6851427⟩. ⟨hal-01470469⟩
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