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Simultaneous Localization and Mapping for Pedestrians using Low-Cost Ultra-Wideband System and Gyroscope

Gentner, Christian and Ulmschneider, Markus (2017) Simultaneous Localization and Mapping for Pedestrians using Low-Cost Ultra-Wideband System and Gyroscope. In: International Conference on Indoor Positioning and Indoor Navigation 2017. IPIN 2017, Japan.

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Abstract

Ultra-wideband (UWB) is a promising positioning system that has undergone massive research development in recent years. Most UWB systems assume prior knowledge on the positions of the UWB anchors. Without knowing the anchor positions, an accurate position estimate of a user is difficult. Hence, this paper presents a novel simultaneous localization and mapping (SLAM) approach for pedestrian localization using a UWB system, where the locations of the anchors are unknown. We fuse the distance estimates of the UWB system with heading information obtained from an inertial measurement unit (IMU). We evaluate the proposed algorithm based on measurements with a moving pedestrian and fixed anchors with unknown positions. The evaluations show that an accurate position estimation of both the pedestrian and the anchors is possible without any prior knowledge on the anchor positions.

Item URL in elib:https://elib.dlr.de/112974/
Document Type:Conference or Workshop Item (Speech)
Title:Simultaneous Localization and Mapping for Pedestrians using Low-Cost Ultra-Wideband System and Gyroscope
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Gentner, Christianchristian.gentner (at) dlr.dehttps://orcid.org/0000-0003-4298-8195
Ulmschneider, Markusmarkus.ulmschneider (at) dlr.dehttps://orcid.org/0000-0001-7241-7057
Date:2017
Journal or Publication Title:International Conference on Indoor Positioning and Indoor Navigation 2017
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:SLAM, UWB, IMU, anchor-free, simultaneous localization and mapping, PF, particle filter, RBPF
Event Title:IPIN 2017
Event Location:Japan
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication and Navigation
DLR - Research area:Raumfahrt
DLR - Program:R KN - Kommunikation und Navigation
DLR - Research theme (Project):R - Vorhaben GNSS2/Neue Dienste und Produkte
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Gentner, Christian
Deposited On:11 Dec 2017 09:32
Last Modified:31 Jul 2019 20:10

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