Magnetic field based heading estimation for pedestrian navigation environments

Heading estimation plays an important role in pedestrian navigation applications. With the advent of smart-phones equipped with MEMS sensors, it has become possible to utilize ones orientation information along with location. This combination has allowed researchers to investigate provisioning users with orientation aware location based services as well as seamless navigation in different environments using Pedestrian Dead Reckoning (PDR) techniques. Although gyroscopes are considered to be the primary sensors for orientation estimation, the errors associated with these sensors require periodic updates from other sources. In case of small hand held devices, these other sources are accelerometers for roll and pitch estimates and magnetic field sensors for the heading. In order to utilize the magnetic field sensors for heading estimation with respect to some known reference, it is desirable to measure only the Earth´s magnetic field components. Although this is achievable in the outdoors, presence of manmade infrastructure in all kinds of urban environments makes it impossible to sense only the Earth´s magnetic field at all times. These manmade magnetic anomalies caused by electronic devices, ferrous materials, mechanical and electrical infrastructures among others are the main culprits contaminating the magnetic field information. Therefore it is desirable to investigate how good one can estimate the heading using magnetic field alone in different pedestrian navigation environments by isolating the perturbed regions from the clean ones. In this paper, a detector is proposed that can identify the magnetic field measurements that can be used for estimating heading with adequate accuracy. The expected errors in the heading estimates are also output based on the test statistics, which allow the proposed detector to be utilized for sensor fusion and estimation of errors associated with gyroscopes. Real world data is acquired using a custom designed consumer grade sensor- - platform and a high accuracy reference system. Theoretical analysis and experimental results show that the proposed detector is capable of identifying the effects of perturbations on the Earth´s magnetic field, which provides users with a better estimate of magnetic heading in different pedestrian navigation environments.