A Comparative Analysis of Attitude Estimation for Pedestrian Navigation with Smartphones

Thibaud Michel 1, 2 Hassen Fourati 2 Pierre Genevès 1 Nabil Layaïda 1
1 TYREX - Types and Reasoning for the Web
Inria Grenoble - Rhône-Alpes, LIG - Laboratoire d'Informatique de Grenoble
2 NECS - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA - Département Automatique
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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Thibaud Michel, Hassen Fourati, Pierre Genevès, Nabil Layaïda. A Comparative Analysis of Attitude Estimation for Pedestrian Navigation with Smartphones. Indoor Positioning and Indoor Navigation, Oct 2015, Banff, Canada. pp.10, ⟨10.1109/IPIN.2015.7346767⟩. ⟨hal-01194811⟩

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