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A Reference Measurement Data Set for Multisensor Pedestrian Navigation with Accurate Ground Truth

Angermann, Michael and Friese, Anne and Khider, Mohammed and Krach, Bernhard and Krach, Klaus and Robertson, Patrick (2009) A Reference Measurement Data Set for Multisensor Pedestrian Navigation with Accurate Ground Truth. 13th European Navigation Conference - Global Navigation Satellite Systems (ENC-GNSS 2009), 03.-06. Mai 2009, Neapel, Italien.

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Abstract

This paper presents a measurement dataset for testing and evaluating multi-sensor approaches in pedestrian navigation. The measurements include both transitions from outdoor to indoor and vice versa. Furthermore, segments with explicit threedimensional character, such as ramps, stairs and elevators are included. The measurements have been carried out in and around a lab and office building. Ground truth reference points are provided with sub-centimeter accuracy. The results of two implementations of Bayesian filter algorithms (EKF and Particle filter) are provided for reference purposes. All measurements and background data are publicly available via an accompanying website.

Item URL in elib:https://elib.dlr.de/58848/
Document Type:Conference or Workshop Item (Paper)
Title:A Reference Measurement Data Set for Multisensor Pedestrian Navigation with Accurate Ground Truth
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Angermann, Michaelmichael.angermann (at) dlr.deUNSPECIFIED
Friese, AnneUNSPECIFIEDUNSPECIFIED
Khider, Mohammedmohammed.khider (at) dlr.deUNSPECIFIED
Krach, Bernhardbernhard.krach (at) dlr.deUNSPECIFIED
Krach, KlausUNSPECIFIEDUNSPECIFIED
Robertson, Patrickpatrick.robertson (at) dlr.deUNSPECIFIED
Date:May 2009
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Pedestrian Navigation, Sensor Fusion, Multi-Sensor Navigation, Indoor Navigation, Inertial Navigation, Satellite Navigation, GPS, RFID. Map-Matching
Event Title:13th European Navigation Conference - Global Navigation Satellite Systems (ENC-GNSS 2009)
Event Location:Neapel, Italien
Event Type:Conference
Event Dates:03.-06. Mai 2009
Organizer:European Group of Institutes of Navigation (EUGIN)
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: Krach, Bernhard
Deposited On:28 May 2009 08:29
Last Modified:31 Jul 2019 19:24

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