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Inertial Systems Based Joint Mapping and Positioning for Pedestrian Navigation

Robertson, Patrick and Angermann, Michael and Krach, Bernhard and Khider, Mohammed (2009) Inertial Systems Based Joint Mapping and Positioning for Pedestrian Navigation. In: Proc. ION GNSS 2009. ION. ION GNSS 2009, 22. Sep. - 25. Sep. 2009, Savannah, Georgia, USA.

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Abstract

We present results for a new pedestrian localisation technique that builds on the principle of Simultaneous Localization and Mapping (SLAM). Our approach is called Foot- SLAM since it is based mainly on the use of shoe-mounted inertial sensors that are used to measure a pedestrian’s steps while walking. In contrast to SLAM used in robotics no specific feature-detection sensors such as cameras or laser scanners are needed in our approach. The work extends prior work in pedestrian navigation that uses known building plan layouts to constrain a location estimation algorithm driven by a stride estimation process. In our approach building plans (maps) can be learnt automatically while people walk in a building. This can be done either directly to localise this specific person or in a offline fashion in order to provide maps for other people. We have combined our system with a GPS and have undertaken experiments in the important scenario where a person enters a building from outside and walks around within this building without GPS availability. Our experiments were undertaken by recording the raw sensor data and ground truth reference information. Offline procesing and comparison with the ground truth reference information allows quantitative evaluation of the achieved localisation accuracy.

Item URL in elib:https://elib.dlr.de/60179/
Document Type:Conference or Workshop Item (Paper)
Title:Inertial Systems Based Joint Mapping and Positioning for Pedestrian Navigation
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Robertson, Patrickpatrick.robertson (at) dlr.deUNSPECIFIED
Angermann, Michaelmichael.angermann (at) dlr.deUNSPECIFIED
Krach, BernhardEADS AGUNSPECIFIED
Khider, Mohammedmohammed.khider (at) dlr.deUNSPECIFIED
Date:25 September 2009
Journal or Publication Title:Proc. ION GNSS 2009
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Publisher:ION
Status:Published
Keywords:Pedestrian navigation, SLAM, simultaneous localization and mapping, inertial navigation, indoor navigation, FootSLAM
Event Title:ION GNSS 2009
Event Location:Savannah, Georgia, USA
Event Type:international Conference
Event Dates:22. Sep. - 25. Sep. 2009
Organizer:ION
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 - Projekt GalileoNAV (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Robertson, Dr.-Ing. Patrick
Deposited On:07 Oct 2009 08:04
Last Modified:31 Jul 2019 19:25

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