Wu, B;
Ma, C;
Poslad, S;
Selviah, DR;
(2021)
An Adaptive Human Activity-Aided Hand-Held Smartphone-Based Pedestrian Dead Reckoning Positioning System.
Remote Sensing
, 13
(11)
, Article 2137. 10.3390/rs13112137.
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Abstract
Pedestrian dead reckoning (PDR), enabled by smartphones’ embedded inertial sensors, is widely applied as a type of indoor positioning system (IPS). However, traditional PDR faces two challenges to improve its accuracy: lack of robustness for different PDR-related human activities and positioning error accumulation over elapsed time. To cope with these issues, we propose a novel adaptive human activity-aided PDR (HAA-PDR) IPS that consists of two main parts, human activity recognition (HAR) and PDR optimization. (1) For HAR, eight different locomotion-related activities are divided into two classes: steady-heading activities (ascending/descending stairs, stationary, normal walking, stationary stepping, and lateral walking) and non-steady-heading activities (door opening and turning). A hierarchical combination of a support vector machine (SVM) and decision tree (DT) is used to recognize steady-heading activities. An autoencoder-based deep neural network (DNN) and a heading range-based method to recognize door opening and turning, respectively. The overall HAR accuracy is over 98.44%. (2) For optimization methods, a process automatically sets the parameters of the PDR differently for different activities to enhance step counting and step length estimation. Furthermore, a method of trajectory optimization mitigates PDR error accumulation utilizing the non-steady-heading activities. We divided the trajectory into small segments and reconstructed it after targeted optimization of each segment. Our method does not use any a priori knowledge of the building layout, plan, or map. Finally, the mean positioning error of our HAA-PDR in a multilevel building is 1.79 m, which is a significant improvement in accuracy compared with a baseline state-of-the-art PDR system.
| Type: | Article |
|---|---|
| Title: | An Adaptive Human Activity-Aided Hand-Held Smartphone-Based Pedestrian Dead Reckoning Positioning System |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.3390/rs13112137 |
| Publisher version: | https://doi.org/10.3390/rs13112137 |
| Language: | English |
| Additional information: | This is an open access article distributed under the Creative Commons Attribution License (https://creativecommons.org/licenses/by/4.0/) which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. |
| Keywords: | indoor positioning system; PDR; human activity recognition; machine learning; localization; data fusion; trajectory optimization; parameter optimization; autoencoder neural network; phone pose; movement state |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Electronic and Electrical Eng |
| URI: | https://discovery-pp.ucl.ac.uk/id/eprint/10128886 |
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