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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Communication dans un congrès
Indoor Positioning and Indoor Navigation, Oct 2015, Banff, Canada. pp.10, 2015, 2015 International Conference on Indoor Positioning and Indoor Navigation. 〈http://www.ucalgary.ca/ipin2015/〉. 〈10.1109/IPIN.2015.7346767〉
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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, 2015, 2015 International Conference on Indoor Positioning and Indoor Navigation. 〈http://www.ucalgary.ca/ipin2015/〉. 〈10.1109/IPIN.2015.7346767〉. 〈hal-01194811〉

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