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A Foot-Mounted Pedestrian Localization System with Map Motion Constraints

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/
Document Type:Conference or Workshop Item (Speech)
Title:A Foot-Mounted Pedestrian Localization System with Map Motion Constraints
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Arias Medina, DanielDaniel.AriasMedina (at) dlr.deUNSPECIFIED
Schwaab, ManuelHahn-Schickard-GesellschaftUNSPECIFIED
Plaia, DavideHahn-Schickard-GesellschaftUNSPECIFIED
Romanovas, Michailasmichailas.romanovas (at) dlr.deUNSPECIFIED
Traechtler, MartinHahn-Schickard-GesellschaftUNSPECIFIED
Manoli, YiannosHahn-Schickard-GesellschaftUNSPECIFIED
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:10 Nov 2015 12:31

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