HERMES: Pedestrian Real-Time Offline Positioning and Moving Trajectory Tracking System Based on MEMS Sensors

With the development of positioning technology, sensor-based positioning has become the most commonly used positioning method because it is more low-cost and efficient with the popularity of smart phones. In this paper, we construct a pedestrian real-time offline positioning and moving trajectory tracking system (HERMES) which only relies on the sensors inside smart phones. In HERMES, based on Pedestrian Dead Reckoning (PDR) model, a stable and accurate pedestrian gait recognition is achieved through the rare double sliding window, the pedestrian step length is estimated in real time by a training pedestrian step length model, and the pedestrian real-time course angle is available through orientation sensor inside smart phones. Thus, if given a pedestrian's initial position, the system can implement the real-time offline pedestrian positioning and moving trajectory tracking. Experiments show the pedestrian gait recognition algorithm implemented in this paper has a high accuracy and the positioning effect is satisfactory. The moving trajectory tracked by the HERMES has a small deviation from the experimenter's actual trajectory.