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A Real-Time GNSS/PDR Navigation System for Mobile Devices

Department of Information Engineering, University of Florence, via di Santa Marta 3, 50139 Florence, Italy
Author to whom correspondence should be addressed.
These authors contributed equally to this work.
Academic Editor: Antonio Vettore
Received: 12 March 2021 / Revised: 9 April 2021 / Accepted: 15 April 2021 / Published: 18 April 2021
In this article, a smart pedestrian navigation system is developed to be implemented in a common smartphone. The main phases that characterize a pedestrian navigation system that is based on dead reckoning are introduced. A suitable Phase-Locked Loop is designed and the algorithm to estimate the direction of the user’s motion between one step and the next is developed. Finally, a suitable multi-rate Kalman filter (KF) is considered to merge the information from the pedestrian dead reckoning (PDR) navigation with the data provided by the global navigation satellite systems (GNSS). The proposed GNSS/PDR navigation system is implemented in Simulink as a finite-state machine and allows to define a trade-off between energy-saving and performance improvement in terms of position accuracy. The presented pedestrian navigation system is independent of the body-worn location of the smartphone and implements a compensation strategy of the systematic errors that are committed on the step-length estimation and the determination of the motion direction. Moreover, several tests are performed by walking in urban and suburban environments: the results show that a suitable trade-off between energy-saving and position accuracy can be reached by switching the GNSS receiver on and off. View Full-Text
Keywords: PDR; INS; GNSS; pedestrian navigation; sensor fusion PDR; INS; GNSS; pedestrian navigation; sensor fusion
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MDPI and ACS Style

Basso, M.; Martinelli, A.; Morosi, S.; Sera, F. A Real-Time GNSS/PDR Navigation System for Mobile Devices. Remote Sens. 2021, 13, 1567.

AMA Style

Basso M, Martinelli A, Morosi S, Sera F. A Real-Time GNSS/PDR Navigation System for Mobile Devices. Remote Sensing. 2021; 13(8):1567.

Chicago/Turabian Style

Basso, Michele, Alessio Martinelli, Simone Morosi, and Fabrizio Sera. 2021. "A Real-Time GNSS/PDR Navigation System for Mobile Devices" Remote Sensing 13, no. 8: 1567.

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