Piezoelectrics & Acoustooptics, Volume. 47, Issue 2, 368(2025)

A Pedestrian Inertial Positioning Method Based on Ranging Information

LIU Yu1...2, LIU Xiaowei1,2, CHEN Yanping1,2, HUANG Jiangfeng1,2, ZHOU Mengqiang1,2, and PENG Hui12 |Show fewer author(s)
Author Affiliations
  • 1Chongqing Key Laboratory of Autonomous Navigation and Microsystems, Chongqing University of Posts and Telecommunications, Chongqing 400065, China
  • 2Chongqing Engineering Research Center of Intelligent Sensing Technology and Microsystem, Chongqing University of Posts and Telecommunications, Chongqing 400065, China
  • show less

    Pedestrian inertial navigation systems accumulate errors over time during computation, leading to divergent positioning results. The traditional Generalized Likelihood Ratio Test(GLRT) zero-velocity correction algorithm is insufficient to suppress the divergence of positioning errors. To address this limitation, this paper proposes a low-cost, high-precision detection method based on an ultrasonic ranging sensor to assist the GLRT zero-velocity correction (abbreviated as UA-GLRT). Using a standard basketball court as the experimental site, five independent repeatability experiments were conducted to compare the effectiveness of the UA-GLRT algorithm with that of the GLRT algorithm. The two zero-velocity detection algorithms were evaluated through position errors and loop closure errors. Experimental results demonstrate that the UA-GLRT algorithm reduced the average start-end position error from 1.02 m to 0.43 m and decreased the average loop closure error from 1.19%D to 0.5%D compared to the baseline GLRT method.

    Tools

    Get Citation

    Copy Citation Text

    LIU Yu, LIU Xiaowei, CHEN Yanping, HUANG Jiangfeng, ZHOU Mengqiang, PENG Hui. A Pedestrian Inertial Positioning Method Based on Ranging Information[J]. Piezoelectrics & Acoustooptics, 2025, 47(2): 368

    Download Citation

    EndNote(RIS)BibTexPlain Text
    Save article for my favorites
    Paper Information

    Received: Nov. 29, 2024

    Accepted: Jun. 17, 2025

    Published Online: Jun. 17, 2025

    The Author Email:

    DOI:10.11977/j.issn.1004-2474.2025.02.026

    Topics