Arias Medina, Daniel and Schwaab, Manuel and Plaia, Davide and Romanovas, Michailas and Traechtler, Martin and Manoli, Yiannos (2015) A Foot-Mounted Pedestrian Localization System with Map Motion Constraints. In: 12th IEEE Workshop on Positioning, Navigation and Communications (WPNC'15). 12th IEEE Workshop on Positioning, Navigation and Communication WPNC'15, 11-12 Mar 2015, Dresden, Germany.
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Abstract
The work proposes a navigation system for pedestrian indoor localization. The system employs a cascaded architecture, where the information from the foot-mounted inertial unit is combined with the map-induced motion constraints. As the first stage, an Extended Kalman filter with a zerovelocity update (ZUPT) is used to get incremental heading and position information from the inertial sensor measurements. This is followed by motion filtering based on map constraints implemented in a form of SIR particle filter. Compared to a pure inertial approach without the map filtering, the proposed method shows a significant performance improvement for typical indoor scenarios and is shown to be superior to a non-gyroscopic pedometer approach with map constraints.
Item URL in elib: | https://elib.dlr.de/98399/ | |||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | |||||||||||||||||||||
Title: | A Foot-Mounted Pedestrian Localization System with Map Motion Constraints | |||||||||||||||||||||
Authors: |
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Date: | 2015 | |||||||||||||||||||||
Journal or Publication Title: | 12th IEEE Workshop on Positioning, Navigation and Communications (WPNC'15) | |||||||||||||||||||||
Refereed publication: | Yes | |||||||||||||||||||||
Open Access: | No | |||||||||||||||||||||
Gold Open Access: | No | |||||||||||||||||||||
In SCOPUS: | No | |||||||||||||||||||||
In ISI Web of Science: | No | |||||||||||||||||||||
Status: | Published | |||||||||||||||||||||
Keywords: | Pedestrian Navigation, Indoor Positioning, Extended Kalman filter, Particle filter | |||||||||||||||||||||
Event Title: | 12th IEEE Workshop on Positioning, Navigation and Communication WPNC'15 | |||||||||||||||||||||
Event Location: | Dresden, Germany | |||||||||||||||||||||
Event Type: | Workshop | |||||||||||||||||||||
Event Dates: | 11-12 Mar 2015 | |||||||||||||||||||||
Organizer: | Hochschule für Technik und Wirtschaft Dresden | |||||||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | |||||||||||||||||||||
HGF - Program: | Transport | |||||||||||||||||||||
HGF - Program Themes: | Traffic Management (old) | |||||||||||||||||||||
DLR - Research area: | Transport | |||||||||||||||||||||
DLR - Program: | V VM - Verkehrsmanagement | |||||||||||||||||||||
DLR - Research theme (Project): | V - Automated Aids for Safe and Efficient Vessel Traffic Process (old) | |||||||||||||||||||||
Location: | Neustrelitz | |||||||||||||||||||||
Institutes and Institutions: | Institute of Communication and Navigation > Nautical Systems | |||||||||||||||||||||
Deposited By: | Romanovas, Michailas | |||||||||||||||||||||
Deposited On: | 09 Nov 2015 18:42 | |||||||||||||||||||||
Last Modified: | 29 Mar 2023 00:24 |
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