A Comparative Analysis of Attitude Estimation for Pedestrian Navigation with Smartphones

Thibaud Michel (1, 2) , Hassen Fourati (2) , Pierre Genevès (1) , Nabil Layaïda (1)

1 TYREX - Types and Reasoning for the Web
2 NECS - Networked Controlled Systems

We investigate the precision of attitude estimation solutions in the context of Pedestrian Dead-Reckoning (PDR) with commodity smartphones and inertial/magnetic sensors. We propose a concise comparison and analysis of a number of attitude filtering methods in this setting. We conduct an experimental study with a precise ground truth obtained with a motion capture system. We precisely quantify the error in attitude estimation obtained with each filter which combines a 3-axis accelerometer, a 3-axis magnetometer and a 3-axis gyroscope measurements. We discuss the obtained results and analyse advantages and limitations of current technology for further PDR research.

Mots clés: Pedestrian Dead Reckoning; Smartphone; Kalman Filter and Observer; Inertial and Magnetic Sensors; Sensor Fusion; Attitude Estimation

Domaines: Automatique / Robotique; Web

Thibaud Michel, Hassen Fourati, Pierre Genevès, Nabil Layaïda. A Comparative Analysis of Attitude Estimation for Pedestrian Navigation with Smartphones. IPIN 2015 - Indoor Positioning and Indoor Navigation, Oct 2015, Banff, Canada. pp.10, ⟨10.1109/IPIN.2015.7346767⟩. ⟨hal-01194811⟩