{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T03:09:36Z","timestamp":1760238576468,"version":"build-2065373602"},"reference-count":30,"publisher":"MDPI AG","issue":"16","license":[{"start":{"date-parts":[[2020,8,10]],"date-time":"2020-08-10T00:00:00Z","timestamp":1597017600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Faculty Research Development Fund, The University of Auckland","award":["3714652"],"award-info":[{"award-number":["3714652"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Information fusion combining inertial navigation and radio frequency (RF) technologies, is commonly applied in indoor positioning systems (IPSs) to obtain more accurate tracking results. The performance of the inertial navigation system (INS) subsystem is affected by sensor drift over time and the RF-based subsystem aims to correct the position estimate using a fusion filter. However, the inherent sensor drift is usually not corrected during fusion, which leads to increasingly erroneous estimates over a short period of time. Among the inertial sensor drifts, gyroscope drift has the most significant impact in determining the correct orientation and accurate tracking. A gyroscope drift correction approach is proposed in this study and is incorporated in an INS and ultra-wideband (UWB) fusion IPS where only distance measurements from UWB subsystem are used. The drift correction approach is based on turn detection to account for the fact that gyroscope drift is accumulated during a turn. Practical pedestrian tracking experiments are conducted to demonstrate the accuracy of the drift correction approach. With the gyroscope drift corrected, the fusion IPS is able to provide more accurate tracking performance and achieve up to 64.52% mean position error reduction when compared to the INS only tracking result.<\/jats:p>","DOI":"10.3390\/s20164476","type":"journal-article","created":{"date-parts":[[2020,8,11]],"date-time":"2020-08-11T09:28:57Z","timestamp":1597138137000},"page":"4476","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["An INS and UWB Fusion-Based Gyroscope Drift Correction Approach for Indoor Pedestrian Tracking"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0463-2553","authenticated-orcid":false,"given":"Qinglin","family":"Tian","sequence":"first","affiliation":[{"name":"Department of Electrical, Computer, and Software Engineering, The University of Auckland, Auckland 1010, New Zealand"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8450-2558","authenticated-orcid":false,"given":"Kevin I-Kai","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Electrical, Computer, and Software Engineering, The University of Auckland, Auckland 1010, New Zealand"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zoran","family":"Salcic","sequence":"additional","affiliation":[{"name":"Department of Electrical, Computer, and Software Engineering, The University of Auckland, Auckland 1010, New Zealand"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,8,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"696","DOI":"10.1109\/TITB.2006.874196","article-title":"Wireless health care service system for elderly with dementia","volume":"10","author":"Lin","year":"2006","journal-title":"IEEE Trans. Inf. Technol. Biomed."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"50","DOI":"10.1109\/MITP.2013.54","article-title":"Experiencing Indoor Navigation on Mobile Devices","volume":"16","author":"Barberis","year":"2014","journal-title":"It Prof."},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Paterna, V.C., Auge, A.C., Aspas, J.P., and Bullones, M.A.P. (2017). ABluetooth Low Energy Indoor Positioning System with Channel Diversity, Weighted Trilateration and Kalman Filtering. Sensors, 17.","DOI":"10.3390\/s17122927"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"150","DOI":"10.1109\/MCOM.2015.7060497","article-title":"WiFi-based indoor positioning","volume":"53","author":"Yang","year":"2015","journal-title":"IEEE Commun. Mag."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"2228","DOI":"10.1109\/TIM.2013.2256714","article-title":"Using a map of measurement noise to improve UWB indoor position tracking","volume":"62","author":"Suski","year":"2013","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"178","DOI":"10.1109\/TIM.2011.2159317","article-title":"Accurate Pedestrian Indoor Navigation by Tightly Coupling Foot-Mounted IMU and RFID Measurements","volume":"61","author":"Ruiz","year":"2012","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"ref_7","unstructured":"Tian, Q., Salcic, Z., Wang, K.I.-K., and Pan, Y. (2015, January 7\u20139). An enhanced pedestrian dead reckoning approach for pedestrian tracking using smartphones. Proceedings of the IEEE Tenth International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP), Singapore."},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Li, Y., and Ning, F. (2018). Low-Cost Indoor Positioning Application Based on Map Assistance and Mobile Phone Sensors. Sensors, 18.","DOI":"10.3390\/s18124285"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"65","DOI":"10.1186\/1687-6180-2014-65","article-title":"Pedestrian dead reckoning for MARG navigation using a smartphone","volume":"14","author":"Tian","year":"2014","journal-title":"EURASIP J. Adv. Signal Process."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"2079","DOI":"10.1109\/JSEN.2015.2510364","article-title":"A multi-mode dead reckoning system for pedestrian tracking using smartphones","volume":"16","author":"Tian","year":"2016","journal-title":"IEEE Sens. J."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"177","DOI":"10.1109\/TIM.2013.2273595","article-title":"Reducing low-cost INS error accumulation in distance estimation using self-resetting","volume":"63","author":"Akeila","year":"2014","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"ref_12","unstructured":"(2019, June 24). ADIS 16490 Data Sheet, Analog Devices. Available online: https:\/\/www.analog.com\/media\/en\/technical-documentation\/data-sheets\/adis16490.pdf."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"170","DOI":"10.1016\/j.inffus.2015.03.006","article-title":"Particle filter robot localisation through robust fusion of laser, WiFi, compass and a network of external cameras","volume":"27","author":"Regueiro","year":"2016","journal-title":"Inf. Fusion"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"2106","DOI":"10.1109\/TIM.2017.2681398","article-title":"Comparing Ubisense, BeSpoon, and DecaWave UWB Location Systems: Indoor Performance Analysis","volume":"66","author":"Ruiz","year":"2017","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"ref_15","unstructured":"(2019, June 24). TREK1000 User Manual, DecaWave. Available online: https:\/\/www.decawave.com\/wp-content\/uploads\/2018\/09\/trek1000_user_manual.pdf."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.measurement.2018.03.043","article-title":"Adaptive robust INS\/UWB-integrated human tracking using UFIR filter bank","volume":"123","author":"Xu","year":"2018","journal-title":"Measurement"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"3116","DOI":"10.1109\/JSEN.2017.2689802","article-title":"Performance enhancement of MEMS-based INS\/UWB integration for indoor navigation applications","volume":"17","author":"Fan","year":"2017","journal-title":"IEEE Sens. J."},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Youssef, J., Denis, B., Godin, C., and Lesecq, S. (2011, January 14\u201316). Loosely-coupled IR-UWB handset and ankle-mounted inertial unit for indoor navigation. Proceedings of the IEEE International Conference on Ultra-Wideband (ICUWB), Bologna, Italy.","DOI":"10.1109\/ICUWB.2011.6058817"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"4028","DOI":"10.1109\/TIM.2018.2884605","article-title":"Human body shadowing effect on UWB-based ranging system for pedestrian tracking","volume":"68","author":"Tian","year":"2018","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"ref_20","doi-asserted-by":"crossref","unstructured":"Djaja-Josko, V., and Kolakowski, M. (2017, January 21\u201322). A new map based method for NLOS mitigation in the UWB indoor localization system. Proceedings of the 25th Telecommunication Forum (TELFOR), Belgrade, Serbia.","DOI":"10.1109\/TELFOR.2017.8249314"},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Ferreira, A.G., Fernandes, D., Catarino, A.P., and Monteiro, J.L. (2017). Performance Analysis of ToA-Based Positioning Algorithm for Static and Dynamic Target in Low Ranging Measurements. Sensors, 17.","DOI":"10.3390\/s17081915"},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Garcia, E., Poudereux, P., Hernandez, A., Urena, J., and Gualda, D. (2015, January 17\u201319). A robust UWB indoor positioning system for highly complex environments. Proceedings of the IEEE International Conference on Industrial Technology (ICIT), Seville, Spain.","DOI":"10.1109\/ICIT.2015.7125601"},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Nurminen, H., Ardeshiri, T., Piche, R., and Gustafsson, F. (2015, January 13\u201316). A NLOS-robust TOA positioning filter based on a skew-t measurement noise model. Proceedings of the International Conference on Indoor Positioning and Indoor Navigation (IPIN), Banff, AB, Canada.","DOI":"10.1109\/IPIN.2015.7346786"},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Moder, T., Hafner, P., Wisiol, K., and Wieser, M. (2014, January 27\u201330). 3D indoor positioning with pedestrian dead reckoning and activity recognition based on Bayes filtering. Proceedings of the 2014 International Conference on Indoor Positioning and Indoor Navigation (IPIN), Busan, Korea.","DOI":"10.1109\/IPIN.2014.7275549"},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"856","DOI":"10.1109\/TITS.2010.2052805","article-title":"Modeling the stochastic drift of a MEMS-based gyroscope in gyro\/odometer\/GPS integrated navigation","volume":"11","author":"Georgy","year":"2010","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_26","unstructured":"Hartmann, F., Rifat, D., and Stork, W. (2016, January 5\u20138). Hybrid indoor pedestrian navigation combing an INS and a spatial non-uniform UWB-network. Proceedings of the 19th International Conference on Information Fusion, Heidelberg, Germany."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"189","DOI":"10.1017\/S0373463317000443","article-title":"Detecting turns and correcting headings using low-cost INS","volume":"71","author":"Muhammad","year":"2018","journal-title":"J. Navig."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"2","DOI":"10.1049\/ip-rsn:19990255","article-title":"Improved particle filter for nonlinear problems","volume":"146","author":"Carpenter","year":"1999","journal-title":"IEE Proc.-Radar Sonar Navig."},{"key":"ref_29","unstructured":"(2019, June 24). Parallax SF11 Laser Altimeter Product Manual. Available online: https:\/\/www.parallax.com\/sites\/default\/files\/downloads\/28054-SF11-Laser-Altimeter-Manual-Rev-1.pdf."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"30759","DOI":"10.3390\/s151229827","article-title":"A Hybrid Indoor Localization and Navigation System with Map Matching for Pedestrians Using Smartphones","volume":"15","author":"Tian","year":"2015","journal-title":"Sensors"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/16\/4476\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T09:58:55Z","timestamp":1760176735000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/16\/4476"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,8,10]]},"references-count":30,"journal-issue":{"issue":"16","published-online":{"date-parts":[[2020,8]]}},"alternative-id":["s20164476"],"URL":"https:\/\/doi.org\/10.3390\/s20164476","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2020,8,10]]}}}