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A Pedestrian Navigation System using a Map-Based Angular Motion Model for Indoor and Outdoor Environments

Kaiser, Susanna and Khider, Mohammed and Robertson, Patrick (2012) A Pedestrian Navigation System using a Map-Based Angular Motion Model for Indoor and Outdoor Environments. Journal of Location Based Services, pp. 1-20. Taylor & Francis. doi: 10.1080/17489725.2012.698110. ISSN 1748-9725.

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Official URL: http://dx.doi.org/10.1080/17489725.2012.698110

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 is often the case in the state-of-the art, a map-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. In addition, we will include outdoor maps by processing satellite images of the region. We will show that the angular PDF will help to obtain better performance in critical multi-modal navigation scenarios and in the outdoor area when including maps.

Item URL in elib:https://elib.dlr.de/74515/
Document Type:Article
Title:A Pedestrian Navigation System using a Map-Based Angular Motion Model for Indoor and Outdoor Environments
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Kaiser, Susannasusanna.kaiser (at) dlr.deUNSPECIFIED
Khider, MohammedUNSPECIFIEDUNSPECIFIED
Robertson, PatrickUNSPECIFIEDUNSPECIFIED
Date:24 June 2012
Journal or Publication Title:Journal of Location Based Services
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI :10.1080/17489725.2012.698110
Page Range:pp. 1-20
Publisher:Taylor & Francis
ISSN:1748-9725
Status:Published
Keywords:Human Motion Model, Pedestrian Navigation, Multi-Sensor-Navigation, Particle Filter
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 Galileo Advanced Applications (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Kaiser, Dr.-Ing. Susanna
Deposited On:31 Jan 2012 10:50
Last Modified:14 Dec 2019 04:25

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