The usability of MTI IMU sensor data in PDR indoor positioning

Abstract

In presented inertial pedestrian navigation system, MTI/IMU was used successfully by strapping the IMU on foot/shoe. The PDR indoor positioning method has been implemented in a Kalman-based framework. The Extended Kalman Filter (EKF) is updated with velocity and angular rate measurements by the Zero-Velocity-Update (ZUPT) and Zero-Angular-Rate-Update (ZARU) separately. There is an advantage of the step detection combined with ZUPT and ZARU for calculating the actual position, distance travelled and estimating the IMU sensors' inherent accumulated error by EKF. Several tests (100Hz, 50Hz and 25Hz) with MTI/IMU device have been performed and analyzed in order to evaluate the performance of the proposed methods. In this paper the final results of normal, slow and fast walking at 100Hz are presented, which are the most stable.