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저가형 관성센서를 이용한 보행자 관성항법 시스템의 성능 향상
Author
김윤기, 이장명, 박재현, 곽휘권, 박상훈, 이춘우
Journal Title
제어.로봇.시스템학회 논문지
Publication Year
2013
Topics
Summary
This paper proposes a method for PDR using a low-cost IMU to improve the performance of pedestrian inertial navigation systems. To overcome the limitations of GPS in indoor environments, a PDR scheme utilizing an IMU is employed, along with a novel calibration method for reliable sensor data and estimation schemes for step length, attitude, and heading angles. Experimental results demonstrate that the proposed method achieves accuracy comparable to high-cost IMUs (below 1% distance error and below 3% position error).
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