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PocketSLAM based on the Principle of FootSLAM

Kaiser, Susanna and Munoz Diaz, Estefania (2015) PocketSLAM based on the Principle of FootSLAM. In: Proceedings of 2015 International Conference on Localization and GNSS, ICL-GNSS 2015. ICL-GNSS international Conference on Localization and GNSS 2015, 22.-24. Juni 2015, Götheburg, Schweden.

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Abstract

Infrastructureless indoor navigation remains a challenging research area in spite of the fact that multiple low cost sensors suitable for positioning recently became available even in mobile phones. Since Global Navigation Satellite Signals (GNSS) are often unavailable indoors, the use of Inertial Measurement Units (IMUs) seems to be promising for indoor navigation. Auspicious results are available when the sensor is placed on the foot in indoor positioning applications, but still many problems remain when the drift error during stance phases cannot be reduced. A indoor navigation solution is the so called FootSLAM algorithm, where reliable positioning (positioning error below 1 meter in the case of loop closures) is possible assuming that the sensor is fixed on the foot. More recently, another navigation system was proposed where the sensor is located in the pocket of a pedestrian. Since no special fixation or no special shoe is needed, this location of the sensor is more convenient for mass market users. But also this system suffers from a remaining drift that needs to be compensated. In this paper, we propose a combination of the pocket navigation system with the FootSLAM approach and show that it is also possible to reduce the remaining drift with this combination.

Item URL in elib:https://elib.dlr.de/96138/
Document Type:Conference or Workshop Item (Speech)
Title:PocketSLAM based on the Principle of FootSLAM
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Kaiser, Susannasusanna.kaiser (at) dlr.deUNSPECIFIED
Munoz Diaz, Estefaniaestefania.munoz (at) dlr.deUNSPECIFIED
Date:June 2015
Journal or Publication Title:Proceedings of 2015 International Conference on Localization and GNSS, ICL-GNSS 2015
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:pedestrian navigation, inertial navigation, pocket navigation, multi sensor fusion
Event Title:ICL-GNSS international Conference on Localization and GNSS 2015
Event Location:Götheburg, Schweden
Event Type:international Conference
Event Dates:22.-24. Juni 2015
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
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Kaiser, Dr.-Ing. Susanna
Deposited On:29 Apr 2015 11:27
Last Modified:03 Jul 2018 10:57

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