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, 2015-03-11 - 2015-03-12, 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 Start Date: | 11 March 2015 | ||||||||||||||||||||||||||||
Event End Date: | 12 March 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: | 24 Apr 2024 20:03 |
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