Seamless Indoor-Outdoor Foot-Mounted Inertial Pedestrian Positioning System Enhanced by Smartphone PPP/3-D Map/Barometer

Jiale Wang; Chuang Shi; Ming Xia; Fu Zheng; Tuan Li; Yunfeng Shan; Guifei Jing; Wu Chen; T. C. Hsia

doi:10.1109/JIOT.2023.3337393

Seamless Indoor-Outdoor Foot-Mounted Inertial Pedestrian Positioning System Enhanced by Smartphone PPP/3-D Map/Barometer

Jiale Wang, Chuang Shi, Ming Xia, Fu Zheng, Tuan Li, Yunfeng Shan, Guifei Jing, Wu Chen, T. C. Hsia

Research output: Journal article publication › Journal article › Academic research › peer-review

2 Citations (Scopus)

Abstract

Foot-mounted inertial pedestrian positioning system (FIPPS) is increasingly important in the Internet of Things (IoT) and smart cities because of the passive, anti-interference, and fully automatic advantages. However, FIPPS faces the problem of unknown initial positions and accumulative errors in practical applications, which makes the positioning trajectory inaccurate and unable to be matched in a well-defined coordinate system. A seamless indoor-outdoor inertial pedestrian positioning method based on smartphone precise point positioning (PPP)/3-D map/barometer augmentation is proposed to solve this problem. The main contributions include the following: 1) a 3-D-mapping-aided PPP (3DMA PPP) method is proposed to detect and eliminate non-line-of-sight (NLOS) signals to provide high-precision initial coordinates for FIPPS, which enables positioning trajectories to be matched in the unified WGS-84 coordinate system; 2) the adaptive zero-velocity update (ZUPT) approach based on neuro-fuzzy inference is used to precisely identify the stance phases of various gait patterns to suppress position and velocity error accumulation; 3) a barometer and 3-D building model-based height constraint algorithm is applied to further improve the height estimation of the FIPPS; and 4) an Android application named FYTECH is developed for data transmission between the smartphone and FIPPS and supports the online display of pedestrian positioning trajectories. In a seamless outdoor-indoor experiment with multiple motion patterns, including walking, running, elevators and stairs, we demonstrate that the proposed method can achieve RMS errors better than 1.17 and 1.32 m in the horizontal and vertical directions, respectively. The performance indicates that our method can conveniently fuse multisource sensor information, such as foot wearables, smartphones, and 3-D maps to greatly enhance pedestrians' seamless indoor-outdoor navigation experience.

Original language	English
Pages (from-to)	13051-13069
Number of pages	19
Journal	IEEE Internet of Things Journal
Volume	11
Issue number	7
DOIs	https://doi.org/10.1109/JIOT.2023.3337393
Publication status	Published - 1 Apr 2024

Keywords

3D-mapping-aided precise point positioning (3DMA PPP)
adaptive zero-velocity update
foot-mounted iner- tial pedestrian positioning system (FIPPS)
height constraint
Internet of Things (IoT)
seamless indoor-outdoor navigation

ASJC Scopus subject areas

Signal Processing
Information Systems
Hardware and Architecture
Computer Science Applications
Computer Networks and Communications

More information

10.1109/JIOT.2023.3337393

Cite this

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title = "Seamless Indoor-Outdoor Foot-Mounted Inertial Pedestrian Positioning System Enhanced by Smartphone PPP/3-D Map/Barometer",

abstract = "Foot-mounted inertial pedestrian positioning system (FIPPS) is increasingly important in the Internet of Things (IoT) and smart cities because of the passive, anti-interference, and fully automatic advantages. However, FIPPS faces the problem of unknown initial positions and accumulative errors in practical applications, which makes the positioning trajectory inaccurate and unable to be matched in a well-defined coordinate system. A seamless indoor-outdoor inertial pedestrian positioning method based on smartphone precise point positioning (PPP)/3-D map/barometer augmentation is proposed to solve this problem. The main contributions include the following: 1) a 3-D-mapping-aided PPP (3DMA PPP) method is proposed to detect and eliminate non-line-of-sight (NLOS) signals to provide high-precision initial coordinates for FIPPS, which enables positioning trajectories to be matched in the unified WGS-84 coordinate system; 2) the adaptive zero-velocity update (ZUPT) approach based on neuro-fuzzy inference is used to precisely identify the stance phases of various gait patterns to suppress position and velocity error accumulation; 3) a barometer and 3-D building model-based height constraint algorithm is applied to further improve the height estimation of the FIPPS; and 4) an Android application named FYTECH is developed for data transmission between the smartphone and FIPPS and supports the online display of pedestrian positioning trajectories. In a seamless outdoor-indoor experiment with multiple motion patterns, including walking, running, elevators and stairs, we demonstrate that the proposed method can achieve RMS errors better than 1.17 and 1.32 m in the horizontal and vertical directions, respectively. The performance indicates that our method can conveniently fuse multisource sensor information, such as foot wearables, smartphones, and 3-D maps to greatly enhance pedestrians' seamless indoor-outdoor navigation experience.",

keywords = "3D-mapping-aided precise point positioning (3DMA PPP), adaptive zero-velocity update, foot-mounted iner- tial pedestrian positioning system (FIPPS), height constraint, Internet of Things (IoT), seamless indoor-outdoor navigation",

author = "Jiale Wang and Chuang Shi and Ming Xia and Fu Zheng and Tuan Li and Yunfeng Shan and Guifei Jing and Wu Chen and Hsia, {T. C.}",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.",

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AU - Li, Tuan

AU - Shan, Yunfeng

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AB - Foot-mounted inertial pedestrian positioning system (FIPPS) is increasingly important in the Internet of Things (IoT) and smart cities because of the passive, anti-interference, and fully automatic advantages. However, FIPPS faces the problem of unknown initial positions and accumulative errors in practical applications, which makes the positioning trajectory inaccurate and unable to be matched in a well-defined coordinate system. A seamless indoor-outdoor inertial pedestrian positioning method based on smartphone precise point positioning (PPP)/3-D map/barometer augmentation is proposed to solve this problem. The main contributions include the following: 1) a 3-D-mapping-aided PPP (3DMA PPP) method is proposed to detect and eliminate non-line-of-sight (NLOS) signals to provide high-precision initial coordinates for FIPPS, which enables positioning trajectories to be matched in the unified WGS-84 coordinate system; 2) the adaptive zero-velocity update (ZUPT) approach based on neuro-fuzzy inference is used to precisely identify the stance phases of various gait patterns to suppress position and velocity error accumulation; 3) a barometer and 3-D building model-based height constraint algorithm is applied to further improve the height estimation of the FIPPS; and 4) an Android application named FYTECH is developed for data transmission between the smartphone and FIPPS and supports the online display of pedestrian positioning trajectories. In a seamless outdoor-indoor experiment with multiple motion patterns, including walking, running, elevators and stairs, we demonstrate that the proposed method can achieve RMS errors better than 1.17 and 1.32 m in the horizontal and vertical directions, respectively. The performance indicates that our method can conveniently fuse multisource sensor information, such as foot wearables, smartphones, and 3-D maps to greatly enhance pedestrians' seamless indoor-outdoor navigation experience.

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Seamless Indoor-Outdoor Foot-Mounted Inertial Pedestrian Positioning System Enhanced by Smartphone PPP/3-D Map/Barometer

Abstract

Keywords

ASJC Scopus subject areas

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