TY - JOUR
T1 - A Robust Foot-Mounted Positioning System Based on Dual IMU Data and Ultrasonic Ranging
AU - Qi, Lin
AU - Yu, Yue
AU - Liu, Yu
AU - Gao, Chuanshun
AU - Feng, Tao
AU - Hui, Jiawei
AU - Wang, Sen
N1 - Funding Information:
This work was supported in part by the National Natural Science Foundation of China under Grant 52175531 and in part by the Science and Technology Research Program of Chongqing Municipal Education Commission under Grant KJQN202000605 and Grant KJZD-M202000602
Publisher Copyright:
© 2001-2012 IEEE.
PY - 2023/2/15
Y1 - 2023/2/15
N2 - Foot-mounted positioning system (FPS) is regarded as an important application for GPS-denied scenes, including but not limited to emergency rescue, medical health, and individual soldier positioning. With the assistance of zero-velocity update technology (ZUPT), the basic positioning function can be realized, while the largest problem is that the accumulation of systematic heading drift and positioning error cannot be completely constrained. This article presents a robust FPS based on dual inertial measurement unit data and ultrasonic ranging (FPS-DU). Bidirectional long short-term memory (Bi-LSTM) network is developed for the recognition of quasi-static (QS) period for the performance enhancement of ZUPT, and multilevel constraints are modeled for decreasing the cumulative error of the single foot-mounted model. In addition, a unified Kalman-based location estimator is developed combining dual foot-mounted inertial data and sphere constraint-based ultrasonic ranging results, enhanced by a robust ultrasonic outlier detector. Comprehensive experiments demonstrate that the proposed FPS-DU realizes much more accurate and robust positioning accuracy (between 0.371% and 0.548% under different test environments and traveled distances) compared with traditional single FPSs (S-FPSs).
AB - Foot-mounted positioning system (FPS) is regarded as an important application for GPS-denied scenes, including but not limited to emergency rescue, medical health, and individual soldier positioning. With the assistance of zero-velocity update technology (ZUPT), the basic positioning function can be realized, while the largest problem is that the accumulation of systematic heading drift and positioning error cannot be completely constrained. This article presents a robust FPS based on dual inertial measurement unit data and ultrasonic ranging (FPS-DU). Bidirectional long short-term memory (Bi-LSTM) network is developed for the recognition of quasi-static (QS) period for the performance enhancement of ZUPT, and multilevel constraints are modeled for decreasing the cumulative error of the single foot-mounted model. In addition, a unified Kalman-based location estimator is developed combining dual foot-mounted inertial data and sphere constraint-based ultrasonic ranging results, enhanced by a robust ultrasonic outlier detector. Comprehensive experiments demonstrate that the proposed FPS-DU realizes much more accurate and robust positioning accuracy (between 0.371% and 0.548% under different test environments and traveled distances) compared with traditional single FPSs (S-FPSs).
KW - Bidirectional long short-term memory (Bi-LSTM)
KW - dual inertial sensors
KW - foot-mounted positioning system (FPS)
KW - ultrasonic ranging
KW - zero-velocity update technology (ZUPT)
UR - http://www.scopus.com/inward/record.url?scp=85147260749&partnerID=8YFLogxK
U2 - 10.1109/JSEN.2022.3232613
DO - 10.1109/JSEN.2022.3232613
M3 - Journal article
AN - SCOPUS:85147260749
SN - 1530-437X
VL - 23
SP - 4085
EP - 4095
JO - IEEE Sensors Journal
JF - IEEE Sensors Journal
IS - 4
ER -