Section 4: Pedestrian Tracking
Indoor Pedestrian Tracking |
| Principle of operation: Foot-mounted IMU | |
Above: IMU mounting Option 1: Side-mount. Can be transferred among different users. Right: IMU mounting Option 2: In-heel. Protects IMU and adds no external appendix to the foot. Assures firm fit of the IMU. |
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Features
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Right: Crawling firefighter during a test of the PDR system by firefighters of the San Miguel Fire District, in June 2010. | ||
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Performance
For detailed experimental results, click here. |
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Limitations
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Additional features
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Table I: The PDR system offers three modes of
Z-axis estimates.
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Z-axis Mode
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Advantages
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Disadvantages
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Quick Mode
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Average errors: <1.0 m. No need for floor height
measurements.
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Uses barometer – therefore not compatible with
pressurization techniques
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Precision Mode
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Average errors < 0.2 m.
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Requires measurement of floor heights and uses
differential barometer
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Firefighter mode
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Works without barometer.
Average errors: <1.5 m. |
Reliability decreases in high risers.
Requires measurement of floor height. |