High-Precision Pedestrian Indoor Positioning Method Based on Inertial and Magnetic Field Information
Long-term and high-precision positioning is the key to the pedestrian indoor positioning method. The estimation methods relying only on the inertial measurement unit (IMU) itself lack external observations that can provide absolute information, and the cumulative error easily leads to the distortion...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-05-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/25/9/2891 |
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| author | Ning Yu Xuanhe Chen Renjian Feng Yinfeng Wu |
| author_facet | Ning Yu Xuanhe Chen Renjian Feng Yinfeng Wu |
| author_sort | Ning Yu |
| collection | DOAJ |
| description | Long-term and high-precision positioning is the key to the pedestrian indoor positioning method. The estimation methods relying only on the inertial measurement unit (IMU) itself lack external observations that can provide absolute information, and the cumulative error easily leads to the distortion of the calculated trajectory. In this paper, based on the Extended Kalman Filter (EKF) algorithm, the environmental magnetic field information is taken as the external observation quantity, and a positioning method combining inertial navigation and the magnetic field is proposed. The cumulative error is suppressed from both the yaw angle and pedestrian pose, and the overall navigation and positioning accuracy is improved. The experimental results show that the proposed fusion method greatly improves the suppression of yaw angle and displacement errors. In a total distance of 297.08 m, the yaw angle error is reduced from 11.043° to 4.778°, and the position error is reduced from 8.999 m to 0.364 m. The relative average error decreases from 3.02% to 0.12%. |
| format | Article |
| id | doaj-art-fd3959db396f4e318799fe56cbcff144 |
| institution | DOAJ |
| issn | 1424-8220 |
| language | English |
| publishDate | 2025-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-fd3959db396f4e318799fe56cbcff1442025-08-20T02:58:48ZengMDPI AGSensors1424-82202025-05-01259289110.3390/s25092891High-Precision Pedestrian Indoor Positioning Method Based on Inertial and Magnetic Field InformationNing Yu0Xuanhe Chen1Renjian Feng2Yinfeng Wu3School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, ChinaSchool of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, ChinaSchool of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, ChinaSchool of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, ChinaLong-term and high-precision positioning is the key to the pedestrian indoor positioning method. The estimation methods relying only on the inertial measurement unit (IMU) itself lack external observations that can provide absolute information, and the cumulative error easily leads to the distortion of the calculated trajectory. In this paper, based on the Extended Kalman Filter (EKF) algorithm, the environmental magnetic field information is taken as the external observation quantity, and a positioning method combining inertial navigation and the magnetic field is proposed. The cumulative error is suppressed from both the yaw angle and pedestrian pose, and the overall navigation and positioning accuracy is improved. The experimental results show that the proposed fusion method greatly improves the suppression of yaw angle and displacement errors. In a total distance of 297.08 m, the yaw angle error is reduced from 11.043° to 4.778°, and the position error is reduced from 8.999 m to 0.364 m. The relative average error decreases from 3.02% to 0.12%.https://www.mdpi.com/1424-8220/25/9/2891pedestrian indoor positioning methodmagnetic fieldfusion localization methoderror suppressiontrajectory optimization |
| spellingShingle | Ning Yu Xuanhe Chen Renjian Feng Yinfeng Wu High-Precision Pedestrian Indoor Positioning Method Based on Inertial and Magnetic Field Information Sensors pedestrian indoor positioning method magnetic field fusion localization method error suppression trajectory optimization |
| title | High-Precision Pedestrian Indoor Positioning Method Based on Inertial and Magnetic Field Information |
| title_full | High-Precision Pedestrian Indoor Positioning Method Based on Inertial and Magnetic Field Information |
| title_fullStr | High-Precision Pedestrian Indoor Positioning Method Based on Inertial and Magnetic Field Information |
| title_full_unstemmed | High-Precision Pedestrian Indoor Positioning Method Based on Inertial and Magnetic Field Information |
| title_short | High-Precision Pedestrian Indoor Positioning Method Based on Inertial and Magnetic Field Information |
| title_sort | high precision pedestrian indoor positioning method based on inertial and magnetic field information |
| topic | pedestrian indoor positioning method magnetic field fusion localization method error suppression trajectory optimization |
| url | https://www.mdpi.com/1424-8220/25/9/2891 |
| work_keys_str_mv | AT ningyu highprecisionpedestrianindoorpositioningmethodbasedoninertialandmagneticfieldinformation AT xuanhechen highprecisionpedestrianindoorpositioningmethodbasedoninertialandmagneticfieldinformation AT renjianfeng highprecisionpedestrianindoorpositioningmethodbasedoninertialandmagneticfieldinformation AT yinfengwu highprecisionpedestrianindoorpositioningmethodbasedoninertialandmagneticfieldinformation |