Radar Update (RUPT): A Pedestrian Navigation System with Enhanced Trajectory Performance

To alleviate the dependence on sensor quality and to reduce the accumulated error in traditional inertial navigation systems, this paper proposes RUPT: a millimeter-wave radar aided pedestrian dead reckoning system with dual foot-mounted inertial measurement units (IMU). RUPT in this paper is a comprehensive data processing procedure which pre-processes both inertial data and millimeter-wave data and fuses them in a complementary way. Extensive experiments have demonstrated that the accuracy of RUPT has been improved by up to 65% over the conventional dual-foot mounted pedestrian tracking system.