TY - JOUR
T1 - Seamless Indoor-Outdoor Foot-Mounted Inertial Pedestrian Positioning System Enhanced by Smartphone PPP/3-D Map/Barometer
AU - Wang, Jiale
AU - Shi, Chuang
AU - Xia, Ming
AU - Zheng, Fu
AU - Li, Tuan
AU - Shan, Yunfeng
AU - Jing, Guifei
AU - Chen, Wu
AU - Hsia, T. C.
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2024/4/1
Y1 - 2024/4/1
N2 - Foot-mounted inertial pedestrian positioning system (FIPPS) is increasingly important in the Internet of Things (IoT) and smart cities because of the passive, anti-interference, and fully automatic advantages. However, FIPPS faces the problem of unknown initial positions and accumulative errors in practical applications, which makes the positioning trajectory inaccurate and unable to be matched in a well-defined coordinate system. A seamless indoor-outdoor inertial pedestrian positioning method based on smartphone precise point positioning (PPP)/3-D map/barometer augmentation is proposed to solve this problem. The main contributions include the following: 1) a 3-D-mapping-aided PPP (3DMA PPP) method is proposed to detect and eliminate non-line-of-sight (NLOS) signals to provide high-precision initial coordinates for FIPPS, which enables positioning trajectories to be matched in the unified WGS-84 coordinate system; 2) the adaptive zero-velocity update (ZUPT) approach based on neuro-fuzzy inference is used to precisely identify the stance phases of various gait patterns to suppress position and velocity error accumulation; 3) a barometer and 3-D building model-based height constraint algorithm is applied to further improve the height estimation of the FIPPS; and 4) an Android application named FYTECH is developed for data transmission between the smartphone and FIPPS and supports the online display of pedestrian positioning trajectories. In a seamless outdoor-indoor experiment with multiple motion patterns, including walking, running, elevators and stairs, we demonstrate that the proposed method can achieve RMS errors better than 1.17 and 1.32 m in the horizontal and vertical directions, respectively. The performance indicates that our method can conveniently fuse multisource sensor information, such as foot wearables, smartphones, and 3-D maps to greatly enhance pedestrians' seamless indoor-outdoor navigation experience.
AB - Foot-mounted inertial pedestrian positioning system (FIPPS) is increasingly important in the Internet of Things (IoT) and smart cities because of the passive, anti-interference, and fully automatic advantages. However, FIPPS faces the problem of unknown initial positions and accumulative errors in practical applications, which makes the positioning trajectory inaccurate and unable to be matched in a well-defined coordinate system. A seamless indoor-outdoor inertial pedestrian positioning method based on smartphone precise point positioning (PPP)/3-D map/barometer augmentation is proposed to solve this problem. The main contributions include the following: 1) a 3-D-mapping-aided PPP (3DMA PPP) method is proposed to detect and eliminate non-line-of-sight (NLOS) signals to provide high-precision initial coordinates for FIPPS, which enables positioning trajectories to be matched in the unified WGS-84 coordinate system; 2) the adaptive zero-velocity update (ZUPT) approach based on neuro-fuzzy inference is used to precisely identify the stance phases of various gait patterns to suppress position and velocity error accumulation; 3) a barometer and 3-D building model-based height constraint algorithm is applied to further improve the height estimation of the FIPPS; and 4) an Android application named FYTECH is developed for data transmission between the smartphone and FIPPS and supports the online display of pedestrian positioning trajectories. In a seamless outdoor-indoor experiment with multiple motion patterns, including walking, running, elevators and stairs, we demonstrate that the proposed method can achieve RMS errors better than 1.17 and 1.32 m in the horizontal and vertical directions, respectively. The performance indicates that our method can conveniently fuse multisource sensor information, such as foot wearables, smartphones, and 3-D maps to greatly enhance pedestrians' seamless indoor-outdoor navigation experience.
KW - 3D-mapping-aided precise point positioning (3DMA PPP)
KW - Internet of Things (IoT)
KW - adaptive zero-velocity update
KW - foot-mounted iner- tial pedestrian positioning system (FIPPS)
KW - height constraint
KW - seamless indoor-outdoor navigation
UR - https://www.scopus.com/pages/publications/85179084078
U2 - 10.1109/JIOT.2023.3337393
DO - 10.1109/JIOT.2023.3337393
M3 - Article
AN - SCOPUS:85179084078
SN - 2327-4662
VL - 11
SP - 13051
EP - 13069
JO - IEEE Internet of Things Journal
JF - IEEE Internet of Things Journal
IS - 7
ER -
可持续发展目标 11 可持续城市和社区