FedINS2: A Federated-Edge-Learning-Based Inertial Navigation System With Segment Fusion

Jie Wang, Yebo Wu, Erwu Liu, Xiaolong Wu, Xinyu Qu, Yuanzhe Geng, Hanfu Zhang

Abstract: Modern inertial measurement units (IMUs) with low cost, small size, and low power consumption are the key to improving indoor positioning accuracy. However, the performance of IMU in current mobile phones is spotty. The IMU positioning error of mainstream cell phones is basically greater than 1%, which makes it difficult for indoor fusion positioning technology to achieve accuracy within 3 m on a mobile phone, seriously restricting the development of the industry. Therefore, the existing indoor fusion algorithms need to introduce additional hardware, such as high-density UWB/Wi-Fi/Bluetooth deployment, to compensate for the lack of IMU performance, which significantly increases the deployment cost, difficulty, and reduces environmental applicability. It is found that deep learning can greatly improve the performance of IMU, but traditional deep learning methods have problems, such as privacy protection, difficulty in data collection, and low training efficiency. Therefore, we propose a novel data-driven inertial navigation method based on federated learning, named FedINS, to improve IMU performance and solve the above-mentioned problems. In order to further improve performance and reduce hardware cost, we introduce the concept of segment fusion. FedINS2 (2 means the second S, which is the segment) is formed by combining FedINS with low-cost edge-end ranging, which has terminal computing capabilities and edge-end ranging capabilities. FedINS2 not only greatly improves the performance of the smartphone IMU from 3.6% to 0.8%, but also has the characteristics of privacy protection and efficient data collection. Experimental results demonstrate that the proposed data-driven inertial navigation algorithm is effective.