Frank, Korbinian and Krach, Bernhard and Catterall, Noel and Robertson, Patrick (2009) Development and Evaluation of a Combined WLAN and Inertial Indoor Pedestrian Positioning System. In: 4th International Symposium on Location and Context Awareness. ION GNSS 2009, 2009-09-22 - 2009-09-25, Savannah, Georgia, USA.
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Official URL: http://www.ion.org/meetings/pdf.cfm?pid=148
Abstract
In this paper we have presented an indoor positioning system for pedestrians combining Wireless LAN fingerprinting with foot mounted inertial and magnetometer sensors. To achieve a system capable of real-time processing we have employed a hierarchical Bayesian filtering approach using cascaded extended Kalman filters. The accuracy of the combined system was quantitatively evaluated in a real building against ground-truth. Our results show that accuracy is much higher than using Wireless LAN fingerprinting alone; in our experiment we achieved a positioning error (standard deviation) of roughly 1.6 meters. The approach requires only minimal fingerprinting effort since the high accuracy is achieved by the support of the inertial-based step estimation in the overall estimation process.
Item URL in elib: | https://elib.dlr.de/54517/ | ||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Paper) | ||||||||||||||||||||
Title: | Development and Evaluation of a Combined WLAN and Inertial Indoor Pedestrian Positioning System | ||||||||||||||||||||
Authors: |
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Date: | 22 September 2009 | ||||||||||||||||||||
Journal or Publication Title: | 4th International Symposium on Location and Context Awareness | ||||||||||||||||||||
Refereed publication: | No | ||||||||||||||||||||
Open Access: | No | ||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||||||
Status: | Accepted | ||||||||||||||||||||
Keywords: | Indoor Positioning, Bayesian Filters, Hybrid Positioning, Fingerprinting, INS, inertial pedestrian positioning, Kalman filter, foot mounted sensor, sensor fusion, soft location | ||||||||||||||||||||
Event Title: | ION GNSS 2009 | ||||||||||||||||||||
Event Location: | Savannah, Georgia, USA | ||||||||||||||||||||
Event Type: | international Conference | ||||||||||||||||||||
Event Start Date: | 22 September 2009 | ||||||||||||||||||||
Event End Date: | 25 September 2009 | ||||||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport (old) | ||||||||||||||||||||
HGF - Program: | Space (old) | ||||||||||||||||||||
HGF - Program Themes: | W KN - Kommunikation/Navigation | ||||||||||||||||||||
DLR - Research area: | Space | ||||||||||||||||||||
DLR - Program: | W KN - Kommunikation/Navigation | ||||||||||||||||||||
DLR - Research theme (Project): | W - Vorhaben GNSS2/Neue Dienste und Produkte (old) | ||||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||||
Institutes and Institutions: | Institute of Communication and Navigation > Communications Systems | ||||||||||||||||||||
Deposited By: | Frank, Korbinian | ||||||||||||||||||||
Deposited On: | 30 Jun 2008 | ||||||||||||||||||||
Last Modified: | 24 Apr 2024 19:18 |
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