Piezoelectrics & Acoustooptics, Volume. 47, Issue 2, 368(2025)
A Pedestrian Inertial Positioning Method Based on Ranging Information
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.
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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
Received: Nov. 29, 2024
Accepted: Jun. 17, 2025
Published Online: Jun. 17, 2025
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