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/ | |||||||||
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Document Type: | Conference or Workshop Item (Speech) | |||||||||
Title: | PocketSLAM based on the Principle of FootSLAM | |||||||||
Authors: |
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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 (old) | |||||||||
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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