Compensation Scheme for PDR Using Component-Wise Error Models

There is an inherent problem of error accumulation in Pedestrian Dead Reckoning (PDR). In this chapter, we introduce a PDR error compensation scheme based on the assumption that can obtain sparse locations. Sparse locations are discontinuous locations obtained by using an absolute localization method or passage detection devices (ex. RFID tag, BLE beacon, Spinning Magnet Marker). Our proposal scheme focuses on being able to install anywhere in the indoor environment. In our scheme, we define error models that represent errors in PDR, including moving distance error and orientation change error. We apply the error models to counteract the error that occurs in PDR estimation. Moreover, the error models are tuned each time when a sparse location is measured. As a result, the proposed scheme improves the position error rate by approximately 10% and the route distance error rate by approximately 7%. In addition, we discuss the effectiveness of our scheme by each test route for future consideration.