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A Maps-Based Angular PDF for Navigation Systems in Indoor and Outdoor Environments

Kaiser, Susanna and Khider, Mohammed and Robertson, Patrick (2011) A Maps-Based Angular PDF for Navigation Systems in Indoor and Outdoor Environments. In: 2011 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2011. Indoor Positioning and Indoor Navigation (IPIN), 2011 International Conference on, 21-23 Sept. 2011, Guimaraes, Portugal. ISBN 978-1-4577-1805-2.

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Abstract

By incorporating known floor-plans in sequential Bayesian positioning estimators such as Particle Filters (PF), long term positioning accuracy can be achieved as long as the map is sufficiently accurate and the environment sufficiently constraints pedestrians' motion. Instead of using binary decisions to eliminate particles when crossing a wall as several authors do, a maps-based angular probability density function (PDF) is used in this paper that is capable of weighting the possible headings of the pedestrian according to local infrastructure. We will show that the angular PDF will help to obtain better performance in critical multi-modal navigation scenarios.

Item URL in elib:https://elib.dlr.de/70011/
Document Type:Conference or Workshop Item (Speech)
Title:A Maps-Based Angular PDF for Navigation Systems in Indoor and Outdoor Environments
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Kaiser, Susannasusanna.kaiser (at) dlr.deUNSPECIFIED
Khider, MohammedUNSPECIFIEDUNSPECIFIED
Robertson, Patrickpatrick.robertson (at) dlr.deUNSPECIFIED
Date:September 2011
Journal or Publication Title:2011 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2011
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
ISBN:978-1-4577-1805-2
Status:Published
Keywords:Indoor positioning, multi-sensor navigation, particle filtering, human motion model, maps
Event Title:Indoor Positioning and Indoor Navigation (IPIN), 2011 International Conference on
Event Location:Guimaraes, Portugal
Event Type:international Conference
Event Dates:21-23 Sept. 2011
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 (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Kaiser, Dr.-Ing. Susanna
Deposited On:21 Mar 2018 09:54
Last Modified:21 Mar 2018 09:54

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