Inertial localisation is an important technique as it enables ego-motion
estimation in conditions where external observers are unavailable. However,
low-cost inertial sensors are inherently corrupted by bias and noise, which
lead to unbound errors, making straight integration for position intractable.
Traditional mathematical approaches are reliant on prior system knowledge,
geometric theories and are constrained by predefined dynamics. Recent advances
in deep learning, that benefit from ever-increasing volumes of data and
computational power, allow for data driven solutions that offer more
comprehensive understanding. Existing deep inertial odometry solutions rely on
estimating the latent states, such as velocity, or are dependant on fixed
sensor positions and periodic motion patterns. In this work we propose taking
the traditional state estimation recursive methodology and applying it in the
deep learning domain. Our approach, which incorporates the true position priors
in the training process, is trained on inertial measurements and ground truth
displacement data, allowing recursion and to learn both motion characteristics
and systemic error bias and drift. We present two end-to-end frameworks for
pose invariant deep inertial odometry that utilise self-attention to capture
both spatial features and long-range dependencies in inertial data. We evaluate
our approaches against a custom 2-layer Gated Recurrent Unit, trained in the
same manner on the same data, and tested each approach on a number of different
users, devices and activities. Each network had a sequence length weighted
relative trajectory error mean $\leq0.4594$m, highlighting the effectiveness of
our learning process used in the development of the models.

本研究提出一种深度学习的惯性里程计方法，将传统的状态估计递归方法引入到深度学习领域。该方法结合了真实位置先验知识，使用自我注意力来捕捉惯性数据中的空间特征和长程相关性，并能学习运动特征和系统误差偏差漂移，成功实现无需外部观察者的自主运动估计。