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Development and Evaluation of a Combined WLAN and Inertial Indoor Pedestrian Positioning System

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, 22.-25. Sep. 2009, Savannah, Georgia, USA.

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Official URL: http://www.ion.org/meetings/pdf.cfm?pid=148


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/
Document Type:Conference or Workshop Item (Paper)
Title:Development and Evaluation of a Combined WLAN and Inertial Indoor Pedestrian Positioning System
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Frank, Korbiniankorbinian.frank (at) dlr.deUNSPECIFIED
Catterall, NoelHW CommunicationsUNSPECIFIED
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 ISI Web of Science:No
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 Dates:22.-25. Sep. 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:12 Dec 2013 20:31

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