Pedestrian Inertial Navigation with Self-Contained Aiding (IEEE Press Series on Sensors)

Description

Explore an insightful summary of the major self-contained aiding technologies for pedestrian navigation from established and emerging leaders in the field  Pedestrian Inertial Navigation with Self-Contained Aiding delivers a comprehensive and broad treatment of self-contained aiding techniques in pedestrian inertial navigation. The book combines an introduction to the general concept of navigation and major navigation and aiding techniques with more specific discussions of topics central to the field, as well as an exploration of the future of the future of the field: Ultimate Navigation Chip (uNavChip) technology.  The most commonly used implementation of pedestrian inertial navigation, strapdown inertial navigation, is discussed at length, as are the mechanization, implementation, error analysis, and adaptivity of zero-velocity update aided inertial navigation algorithms. The book demonstrates the implementation of ultrasonic sensors, ultra-wide band (UWB) sensors, and magnetic sensors. Ranging techniques are considered as well, including both foot-to-foot ranging and inter-agent ranging, and learning algorithms, navigation with signals of opportunity, and cooperative localization are discussed. Readers will also benefit from the inclusion of:  A thorough introduction to the general concept of navigation as well as major navigation and aiding techniques  An exploration of inertial navigation implementation, Inertial Measurement Units, and strapdown inertial navigation  A discussion of error analysis in strapdown inertial navigation, as well as the motivation of aiding techniques for pedestrian inertial navigation  A treatment of the zero-velocity update (ZUPT) aided inertial navigation algorithm, including its mechanization, implementation, error analysis, and adaptivity  Perfect for students and researchers in the field who seek a broad understanding of the subject, Pedestrian Inertial Navigation with Self-Contained Aiding will also earn a place in the libraries of industrial researchers and industrial marketing analysts who need a self-contained summary of the foundational elements of the field.  Cover Title Page Copyright Contents Author Biographies List of Figures List of Tables Chapter 1 Introduction 1.1 Navigation 1.2 Inertial Navigation 1.3 Pedestrian Inertial Navigation 1.3.1 Approaches 1.3.2 IMU Mounting Positions 1.3.3 Summary 1.4 Aiding Techniques for Inertial Navigation 1.4.1 Non‐self‐contained Aiding Techniques 1.4.1.1 Aiding Techniques Based on Natural Signals 1.4.1.2 Aiding Techniques Based on Artificial Signals 1.4.2 Self‐contained Aiding Techniques 1.5 Outline of the Book References References Chapter 2 Inertial Sensors and Inertial Measurement Units 2.1 Accelerometers 2.1.1 Static Accelerometers 2.1.2 Resonant Accelerometers 2.2 Gyroscopes 2.2.1 Mechanical Gyroscopes 2.2.2 Optical Gyroscopes 2.2.2.1 Ring Laser Gyroscopes 2.2.2.2 Fiber Optic Gyroscopes 2.2.3 Nuclear Magnetic Resonance Gyroscopes 2.2.4 MEMS Vibratory Gyroscopes 2.2.4.1 Principle of Operation 2.2.4.2 Mode of Operation 2.2.4.3 Error Analysis 2.3 Inertial Measurement Units 2.3.1 Multi‐sensor Assembly Approach 2.3.2 Single‐Chip Approach 2.3.3 Device Folding Approach 2.3.4 Chip‐Stacking Approach 2.4 Conclusions References Chapter 3 Strapdown Inertial Navigation Mechanism 3.1 Reference Frame 3.2 Navigation Mechanism in the Inertial Frame 3.3 Navigation Mechanism in the Navigation Frame 3.4 Initialization 3.4.1 Tilt Sensing 3.4.2 Gyrocompassing 3.4.3 Magnetic Heading Estimation 3.5 Conclusions References Chapter 4 Navigation Error Analysis in Strapdown Inertial Navigation 4.1 Error Source Analysis 4.1.1 Inertial Sensor Errors 4.1.2 Assembly Errors 4.1.3 Definition of IMU Grades 4.1.3.1 Consumer Grade 4.1.3.2 Industrial Grade 4.1.3.3 Tactical Grade 4.1.3.4 Navigation Grade 4.2 IMU Error Reduction 4.2.1 Six‐Position Calibration 4.2.2 Multi‐position Calibration 4.3 Error Accumulation Analysis 4.3.1 Error Propagation in Two‐Dimensional Navigation 4.3.2 Error Propagation in Navigation Frame 4.4 Conclusions References Chapter 5 Zero‐Velocity Update Aided Pedestrian Inertial Navigation 5.1 Zero‐Velocity Update Overview 5.2 Zero‐Velocity Update Algorithm 5.2.1 Extended Kalman Filter 5.2.2 EKF in Pedestrian Inertial Navigation 5.2.3 Zero‐Velocity Update Implementation 5.3 Parameter Selection 5.4 Conclusions References Chapter 6 Navigation Error Analysis in the ZUPT‐Aided Pedestrian Inertial Navigation 6.1 Human Gait Biomechanical Model 6.1.1 Foot Motion in Torso Frame 6.1.2 Foot Motion in Navigation Frame 6.1.3 Parameterization of Trajectory 6.2 Navigation Error Analysis 6.2.1 Starting Point 6.2.2 Covariance Increase During Swing Phase 6.2.3 Covariance Decrease During the Stance Phase 6.2.4 Covariance Level Estimation 6.2.5 Observations 6.3 Verification of Analysis 6.3.1 Numerical Verification 6.3.1.1 Effect of ARW 6.3.1.2 Effect of VRW 6.3.1.3 Effect of RRW 6.3.2 Experimental Verification 6.4 Limitations of the ZUPT Aiding Technique 6.5 Conclusions References Chapter 7 Navigation Error Reduction in the ZUPT‐Aided Pedestrian Inertial Navigation 7.1 IMU‐Mounting Position Selection 7.1.1 Data Collection 7.1.2 Data Averaging 7.1.3 Data Processing Summary 7.1.4 Experimental Verification 7.2 Residual Velocity Calibration 7.3 Gyroscope G‐Sensitivity Calibration 7.4 Navigation Error Compensation Results 7.5 Conclusions References Chapter 8 Adaptive ZUPT‐Aided Pedestrian Inertial Navigation 8.1 Floor Type Detection 8.1.1 Algorithm Overview 8.1.2 Algorithm Implementation 8.1.2.1 Data Partition 8.1.2.2 Principal Component Analysis 8.1.2.3 Artificial Neural Network 8.1.2.4 Multiple Model EKF 8.1.3 Navigation Result 8.1.4 Summary 8.2 Adaptive Stance Phase Detection 8.2.1 Zero‐Velocity Detector 8.2.2 Adaptive Threshold Determination 8.2.3 Experimental Verification 8.2.4 Summary 8.3 Conclusions References Chapter 9 Sensor Fusion Approaches 9.1 Magnetometry 9.2 Altimetry 9.3 Computer Vision 9.4 Multiple‐IMU Approach 9.5 Ranging Techniques 9.5.1 Introduction to Ranging Techniques 9.5.1.1 Time of Arrival 9.5.1.2 Received Signal Strength 9.5.1.3 Angle of Arrival 9.5.2 Ultrasonic Ranging 9.5.2.1 Foot‐to‐Foot Ranging 9.5.2.2 Directional Ranging 9.5.3 Ultrawide Band Ranging 9.6 Conclusions References Chapter 10 Perspective on Pedestrian Inertial Navigation Systems 10.1 Hardware Development 10.2 Software Development 10.3 Conclusions References Index IEEE Press Series on Sensors EULA