Radar Update (RUPT): A Pedestrian Navigation System with Enhanced Trajectory Performance
- Resource Type
- Conference
- Authors
- Dai, Yuquan; Li, Kemeng; Chai, Jin; Xiao, Zhuoling; Yan, Bo; He, Yi; Peng, Wenyu
- Source
- 2021 IEEE International Symposium on Circuits and Systems (ISCAS). :1-5 May, 2021
- Subject
- Components, Circuits, Devices and Systems
Measurement units
Tracking
Millimeter wave measurements
Millimeter wave radar
Radar tracking
Trajectory
Noise measurement
INS
millimeter-wave radar
data fusion
GPS-denied
- Language
- ISSN
- 2158-1525
To alleviate the dependence on sensor quality and to reduce the accumulated error in traditional inertial navigation systems, this paper proposes RUPT: a millimeter-wave radar aided pedestrian dead reckoning system with dual foot-mounted inertial measurement units (IMU). RUPT in this paper is a comprehensive data processing procedure which pre-processes both inertial data and millimeter-wave data and fuses them in a complementary way. Extensive experiments have demonstrated that the accuracy of RUPT has been improved by up to 65% over the conventional dual-foot mounted pedestrian tracking system.