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Improved Heuristic Drift Elimination Algorithm Optimisation Based on a Smartphone Gyroscope

Published online by Cambridge University Press:  11 November 2019

Ying Guo ,
Xianlei Ji ,
Jinyun Guo ,
Jie Zhen ,
Ying Xu ,
Qinghua Liu  and
Yuxi Sun
Ying Guo
Affiliation:
(College of Geomatics, Shandong University of Science and Technology, Qingdao266590, People's Republic of China)
Xianlei Ji*
Affiliation:
(College of Geomatics, Shandong University of Science and Technology, Qingdao266590, People's Republic of China) (Guangzhou South Satellite Navigation Instrument Co., Ltd, Guangzhou510663, People's Republic of China)
Jinyun Guo
Affiliation:
(College of Geomatics, Shandong University of Science and Technology, Qingdao266590, People's Republic of China)
Jie Zhen
Affiliation:
(Chinese Academy of Surveying and Mapping, Beijing100830, People's Republic of China)
Ying Xu
Affiliation:
(College of Geomatics, Shandong University of Science and Technology, Qingdao266590, People's Republic of China)
Qinghua Liu
Affiliation:
(College of Geomatics, Shandong University of Science and Technology, Qingdao266590, People's Republic of China)
Yuxi Sun
Affiliation:
(College of Geomatics, Shandong University of Science and Technology, Qingdao266590, People's Republic of China)
*
(E-mail: [email protected])
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Abstract

Heading errors caused by gyroscope drift affect the positioning precision of pedestrian dead reckoning, and these errors are even greater for smartphone-based reckoning. In this study, an optimised improved heuristic drift elimination (O-iHDE) method is proposed to correct the heading errors on a smartphone gyroscope. Based on an analysis of the improved heuristic drift elimination (iHDE) and enhanced improved heuristic drift elimination (E-iHDE) algorithms, the quaternion method is used to update the attitude and angle threshold judgement conditions, and a method for correcting the quaternion is added to eliminate the heading errors caused by random gyro errors. The analysis of multiple sets of experiments shows that the new method improves the ability to discern and correct the walking route, and the heading accuracy is improved by more than 90%, which extends the effective operation time of pedestrian dead reckoning positioning based on the step-by-step system.

Keywords

Smartphone GyroscopeOptimised Improved Heuristic Drift Elimination (O-iHDE)QuaternionHeading Error
Type
Research Article
Information
The Journal of Navigation , Volume 73 , Issue 3 , May 2020 , pp. 581 - 598
Copyright
Copyright © The Royal Institute of Navigation 2019

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