gyroscopyГироскопия и навигацияGiroskopiya i Navigatsiya / Gyroscopy and Navigation0869-70352075-0927AO «Концерн «ЦНИИ «Электроприбор»10.17285/0869-7035.0034gyroscopy-214Research ArticleСтатьиПешеходная навигация на основе комплексирования ГНСС-приемника и МЭМС-датчиков смартфона с помощью расширенного фильтра КалманаAccurate and Direct GNSS/PDR Integration Using Extended Kalman Filter for Pedestrian Smartphone NavigationРехманА.RehmanA.

Рехман Абдул. Научный сотрудник

ШахидХ.ShahidH.

Шахид Хуснаин. Аспирант

АфзалМ. А.

Афзал Мухаммад Абрар. Аспирант

БхаттиХ. М. А.BhattiH.M.A.

Бхатти Хафиз Мухаммад Али. Студент магистратуры

Институт телеметрии и навигации, Шанхайский транспортный университет Цзяо Тун (Китай); Шанхайская лаборатория навигации и геолокационного сервиса, Шанхайский транспортный университет Цзяо Тун (Китай).КитайInstitute for Sensing and Navigation, Shanghai Jiao Tong University; Shanghai Key Laboratory of Navigation and Location-based Services, Shanghai Jiao Tong University, ChinaChinaФакультет электроники, Фуданьский университет (Китай).КитайDepartment of Electronic Engineering, Fudan University, ChinaChinaШанхайская лаборатория навигации и геолокационного сервиса, Шанхайский транспортный университет Цзяо Тун (Китай).КитайShanghai Key Laboratory of Navigation and Location-based Services, Shanghai Jiao Tong University, ChinaChinaФакультет информатики и вычислительной техники, Дунгуаньский университет (Китай).КитайDepartment of Computer Science and Technology, Donghua University, ChinaChina20201011202528291108Copyright © Рехман А., Шахид Х., Афзал М., Бхатти Х., 20252025Рехман А., Шахид Х., Афзал М., Бхатти Х.Rehman A., Shahid H., Афзал М., Bhatti H.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://www.gyroscopy.ru/jour/article/view/214

Описывается решение задачи пешеходной навигации по данным встроенных в смартфон приемника глобальных навигационных спутниковых систем (ГНСС) и инерциальных микроэлектромеханических «датчиков» в сложных с точки зрения приема сигналов ГНСС условиях. Для реализации метода предлагается использовать технологию определения длины шага и комплексирование спутниковых и инерциальных данных с применением расширенного фильтра Калмана. Приводятся результаты обработки натурных данных, демонстрирующие эффективность метода в неблагоприятных для работы ГНСС-приемника условиях.

According to well-described literature concerning the work history of multipath mitigation in the global navigation satellite systems (GNSS), multipath is still the most dominant factor in a challenging environment. There are unperturbed harsh circumstances where GNSS signals cannot reach and smartphone navigation is not possible. The main objective of this research is to find an accurate solution for pedestrian smartphone navigation in a multipath environment. Experiments are done with micro-electro-mechanical system (MEMS) sensors mounted on a smartphone, and no extra hardware is needed. The latest Android smartphone is used to log the data files of GNSS and MEMS sensors. This scheme has been classified in the synopsis, and a rectangular route with three perpendicular turns has been selected for a pedestrian walk. The data is preprocessed using a low pass filter to remove high-frequency noise and smooth the signal. The description of accumulative error produced by the heading and step size estimation has been reduced by implementing the indices of mean cumulative heading error and cumulative step length error, respectively. In the end, the suboptimal extended Kalman filter algorithm is used to fuse the data of GNSS and pedestrian dead reckoning (PDR) for final results. In this paper, we try to give a technique to provide accurate pedestrian smartphone navigation. The fusion results show that the prospective method explores the possibility to use smartphone navigation in any case when GNSS or PDR information is not available. Substantial simulations are implemented and corroborate that the schemed method is sturdier to use in a harsh environments. The aim is to achieve high-level accuracy with an ultra-low-cost solution.

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The authors declare that there are no conflicts of interest present.