Inertial Device Indoor Positioning Direction Correction
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Solution Overview
Problem
The existing pedestrian dead reckoning (PDR) system for indoor positioning faces challenges in accurately correcting direction due to decreased positioning accuracy and incorrect position matching on map data, leading to estimation errors in distance and direction.
Innovation Solution
An inertial device equipped with a traveling direction estimator, position estimator, absolute position information acquirer, position corrector, and traveling direction corrector, which uses parametric statistics, such as a Kalman filter, to correct estimated positions and directions based on received absolute position information, thereby improving indoor positioning accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If map-matching method is used to correct traveling direction, then absolute azimuth estimation accuracy is improved, but position matching correctness deteriorates due to decreased positioning accuracy
Solution Approach 1:
The system uses feedback by comparing the estimated position from inertial navigation with the corrected position from absolute position information. The traveling direction is corrected based on the gap between these two positions, creating a closed-loop feedback mechanism that continuously refines direction estimation without relying on potentially incorrect map-matching.
Solution Approach 2:
The system introduces an intermediary approach by using absolute position information as a reference point to calculate the correction amount for traveling direction. Instead of directly relying on map-matching results, the system uses the position gap between estimated and corrected positions as an intermediary to derive direction correction, avoiding the reliability issues of direct map-matching.
2Adaptability or versatility
If inertial navigation system is used to estimate position, then positioning functionality is provided in GPS-denied environments, but estimation errors in distance and direction accumulate over time
Solution Approach 1:
The system applies feedback by continuously comparing the inertial navigation estimated position with the absolute position information and using the position gap to correct the traveling direction. This feedback mechanism prevents error accumulation by periodically resetting the inertial navigation drift using reliable absolute position references.
Solution Approach 2:
The system implements self-service by using its own estimated position combined with absolute position information to automatically correct its traveling direction. The position corrector and traveling direction corrector work together to self-adjust the navigation accuracy without external intervention, maintaining positioning functionality while reducing error accumulation.
Data Source
AI summary
To improve indoor positioning accuracy, an inertial device includes a traveling direction estimator configured to estimate a traveling direction and movement velocity, based on an output of a sensor, a position estimator configured to generate an estimated position of the inertial device by use of an inertial navigation system, based on the traveling direction and the movement velocity estimated by the traveling direction estimator, an absolute position information acquirer configured to acquire absolute position information which is provided externally, a position corrector configured to correct the estimated position based on the absolute position information and generate a corrected position, upon acquiring the absolute position information, and a traveling direction corrector configured to correct the traveling direction based on a gap between a direction from a predetermined position to the estimated position and a direction from the predetermined position to the corrected position.