On calibrating the sensor errors of a PDR-based indoor localization system

Kun Chan Lan, Wen Yuah Shih

研究成果: Article同行評審

54 引文 斯高帕斯(Scopus)


Many studies utilize the signal strength of short-range radio systems (such as WiFi, ultrasound and infrared) to build a radio map for indoor localization, by deploying a large number of beacon nodes within a building. The drawback of such an infrastructure-based approach is that the deployment and calibration of the system are costly and labor-intensive. Some prior studies proposed the use of Pedestrian Dead Reckoning (PDR) for indoor localization, which does not require the deployment of beacon nodes. In a PDR system, a small number of sensors are put on the pedestrian. These sensors (such as a G-sensor and gyroscope) are used to estimate the distance and direction that a user travels. The effectiveness of a PDR system lies in its success in accurately estimating the user's moving distance and direction. In this work, we propose a novel waist-mounted based PDR that can measure the user's step lengths with a high accuracy. We utilize vertical acceleration of the body to calculate the user's change in height during walking. Based on the Pythagorean Theorem, we can then estimate each step length using this data. Furthermore, we design a map matching algorithm to calibrate the direction errors from the gyro using building floor plans. The results of our experiment show that we can achieve about 98.26% accuracy in estimating the user's walking distance, with an overall location error of about 0.48 m.

頁(從 - 到)4781-4810
期刊Sensors (Switzerland)
出版狀態Published - 2013 4月

All Science Journal Classification (ASJC) codes

  • 分析化學
  • 資訊系統
  • 原子與分子物理與光學
  • 生物化學
  • 儀器
  • 電氣與電子工程


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