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Pedestrian Inertial Navigation with Self‐Contained Aiding
Yusheng Wang and Andrei M. Shkel
University of California, Irvine
IEEE Press Series on Sensors
Vladimir Lumelsky, Series Editor
Copyright © 2021 by The Institute of Electrical and Electronics Engineers, Inc. All rights reserved.
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Author Biographies
Yusheng Wang, PhD, received the B.Eng. degree (Hons.) in engineering mechanics from Tsinghua University, Beijing, China, in 2014 and the Ph.D. degree in mechanical and aerospace engineering from the University of California, Irvine, CA, in 2020. His research interests include the development of silicon‐based and fused quartz‐based MEMS resonators and gyroscopes, and pedestrian inertial navigation development with sensor fusion. He is currently working at SiTime Corporation as an MEMS Development Engineer.
Andrei M. Shkel, PhD, has been on faculty at the University of California, Irvine since 2000, and served as a Program Manager in the Microsystems Technology Office of DARPA. His research interests are reflected in over 300 publications, 42 patents, and 3 books. Dr. Shkel has been on a number of editorial boards, including Editor of IEEE/ASME JMEMS, Journal of Gyroscopy and Navigation, and the founding chair of the IEEE Inertial Sensors. He was awarded the Office of the Secretary of Defense Medal for Exceptional Public Service in 2013, and the 2009 IEEE Sensors Council Technical Achievement Award. He is the President of the IEEE Sensors Council and the IEEE Fellow.
1 Introduction
1.1 Navigation
Navigation is the process of planning, recording, and controlling the movement of a craft or vehicle from one place to another [1]. It is an ancient subject but also a complex science, and a variety of methods have been developed for different circumstances, such as land navigation, marine navigation, aeronautic navigation, and space navigation.
One of the most straightforward methods is to use landmarks. Generally speaking, a landmark can be anything with known coordinates in a reference frame. For example, any position on the surface of the Earth can be described by its latitude
