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ROBUST HEIGHT ESTIMATION USING THE COMBINATION OF BAROMETER AND ACCELEROMETER DATA

Pavol Kajánek

Abstract

The paper deals with height determination in indoor environment using inertial sensors (accelerometers, gyroscopes) and barometer built in a smartphone, which is very important to detect upstairs and downstairs motion of the users. The algorithm proposed uses the barometric formula for height determination and the relationship between the decreasing barometric pressure and increasing height. The main advantage of the use of barometer is the long-term accuracy, because the algorithm is not recursive. The problem of the barometric measurement lies in the local disturbances of barometric pressure which is caused by temperature changes (increasing temperature cause increase of the pressure) and instable air mass (air-conditioning cause inhomogeneous air mass). These local disturbances of the barometric pressure lead to increase of errors in height determination. Reduce the errors caused by the temperature change, accelerometer data using step detection with average step height (without integration process), are used. Double integration of the acceleration measured is used only in specific situations (only in case when elevator is used during the movement). The benefit of the use of combined processing of barometer and accelerometer data against the use of only barometer or accelerometer data is analyzed on the base of experimental measurements.

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DOI resolver: doi.org/10.5593/sgem2019/2.2/s09.037

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