Technology Research Of Pedestrian Tracking System Based On Motion-senso

Pedestrian positioning system based on foot mounted inertial sensors gathering motion parameterswill serve as an important approach to track the position of persons when the navigation signal of the satellite is unreliable. However, because of the drift of inertial measurement sensors, the errors between the positioning result and the real trace which may accumulate over time may lead to the failure of positioning. In this paper, the pedestrian positioning system is designed based on the Arduino platform. The research is concentrated on the algorithm of sensors calibration and stance detection. The major work is as follows:(1)The pedestrian positioning system proposed in this paper is designed based on the Arduino opensource platform. By analyzing the motion characteristics of human, the sensors adopted by the system can be determined. Then the system is designed to achieve the design goals include low power consumption and small to wearable.(2) We present the error model of accelerometer, gyroscope and magnetometers by the analysis of MEMS errors source. Based on the model, the calibration algorithm is implemented to eliminate the error of MEMS sensors. The experimental results demonstrate that the calibration approach is effective.(3) The limitation of current stance detection algorithms is concluded based on analysis of their performance. Then an adaptive stance detection algorithm is proposed, in which the detection threshold changes with the motion state. The experiment results show that the proposed approach is effective for most kinds of behaviors and stable for practical application.(4) The wireless communication system is designed to accomplish data exchange. The chip nRF24L01 is used to transmit data from foot-mounted sensor to real time processor node for short-range and high speed transmission situation. In long-distance wireless communication, we utilize the chip SX1278 to achieve the data transmission from real time processor node to control center. This chip could get further range and higher performance of anti-interference.