| Author: | Liao, Qiushen |
| Title: | Pedestrian navigation mobile device-based dead reckoning aided by factors |
| Advisors: | Hsu, Lita (AAE) |
| Degree: | M.Sc. |
| Year: | 2022 |
| Subject: | Dead reckoning (Navigation) Pedestrian inertial navigation systems Hong Kong Polytechnic University -- Dissertations |
| Department: | Department of Mechanical Engineering |
| Pages: | v, 50 pages : color illustrations |
| Language: | English |
| Abstract: | In 2013 R. Harle[1] published the Pedestrian Dead Reckoning(PDR) paper. The development of the PDR system uses special sensor units installed on the body, such as smart bands and headgear. These methods assume that the Inertial Measurement Unit(IMU) is connected to a fixed position on a pedestrian's skin or body. And the PDR proposed the method of using mobile devices. The mobile devices are placed on the pants pockets or hands of pedestrians, respectively, so there is no absolute direction and heading angle. Since most quantities of smartphones and other smart devices we use daily are equipped with a series of sensors integrated on circuit boards, PDR is now available to be partly utilized in these daily devices. PDR is able to provide continuous data solving and is also capable of indicating pedestrians' movement, direction and motions. With the assistance of electronic mapping to find the start point, PDR would provide the continuous nodes as the trace of the device holder. However, the resulting trace of PDR only did not show eligible performance, and with the error accumulation, it seems to lose the correct direction. The Factor Graph is a kind of probability graph[2]. Based on the factor graph, the sum-product algorithm can be used to efficiently calculate the edge distribution of each variable. Like the algorithm from SLAM(Simultaneous Localization and Mapping), data processing performs better with the optimization by factor graph than without. Thus, the Factor Graph Optimization might assist the PDR data to get a lower error than it does by the ground truth. This paper mainly studies pedestrian navigation in highly urbanized areas and combines the FGO method with a PDR system based on smartphones. |
| Rights: | All rights reserved |
| Access: | restricted access |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| 6878.pdf | For All Users (off-campus access for PolyU Staff & Students only) | 2.19 MB | Adobe PDF | View/Open |
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