A Comparative Analysis of Attitude Estimation for Pedestrian Navigation with Smartphones - Inria - Institut national de recherche en sciences et technologies du numérique
Conference Papers Year : 2015

A Comparative Analysis of Attitude Estimation for Pedestrian Navigation with Smartphones

Hassen Fourati
Pierre Genevès
Nabil Layaïda

Abstract

We investigate the precision of attitude estimation solutions in the context of Pedestrian Dead-Reckoning (PDR) with commodity smartphones and inertial/magnetic sensors. We propose a concise comparison and analysis of a number of attitude filtering methods in this setting. We conduct an experimental study with a precise ground truth obtained with a motion capture system. We precisely quantify the error in attitude estimation obtained with each filter which combines a 3-axis accelerometer, a 3-axis magnetometer and a 3-axis gyroscope measurements. We discuss the obtained results and analyse advantages and limitations of current technology for further PDR research.
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Dates and versions

hal-01194811 , version 1 (07-09-2015)

Identifiers

Cite

Thibaud Michel, Hassen Fourati, Pierre Genevès, Nabil Layaïda. A Comparative Analysis of Attitude Estimation for Pedestrian Navigation with Smartphones. IPIN 2015 - Indoor Positioning and Indoor Navigation, Oct 2015, Banff, Canada. pp.10, ⟨10.1109/IPIN.2015.7346767⟩. ⟨hal-01194811⟩
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