Pedestrian Dead Reckoning for Mobile Phones with Magnetic Deviation Map and GPS Accuracy

摘要

Pedestrian Dead Reckoning (PDR) is an effective positioning method that can be used in urban-canyon environments where the accuracy of GPS is significantly degraded. In this study, we propose a method to correct the heading direction by referring to a map of magnetic deviation, which makes magnetic disturbances predictable and removable. This paper also integrates GPS with PDR using Kalman filter framework to correct the accumulated error of PDR. In the integration, the GPS accuracy is calculated by considering HDOP(Horizontal Dilution Of Precision) and UERE(User Equivalent Range Error) to indicate the quality of GPS estimation. Finally, both methods are evaluated in open-field and urban-canyon environments.