Using portable device sensors to recognize height changing modes of motion

In portable navigation, the need to recognize the motion mode of the user, is useful - if not necessary - to improve the positioning estimation. This paper explains the use of sensors in a portable device, such as a smartphone, to recognize the user´s mode of motion when a change in height is detected. The modes of motion detected are walking up or down stairs, taking the elevator, and standing or walking on an escalator. The portable device contains an accelerometer triad, gyroscope triad, a barometer, and occasionally a magnetometer triad. The solution is dependent on the sensors, and does not require satellite or wireless positioning. The height motion mode recognition module has been implemented in real-time on several brands of various consumer portable devices, including smartphones, tablets, smartwatches, and smart glasses.