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Ahstract-The approach described here attempts to overcome foot-mounted limitations, contrary to a majority of current implementations of inertial navigation systems (INS). The aim of our development is to maintain repeatable performance, especially without step counting, while carefully dealing with the mobility requirements and the computation cost. The inertial measurement unit (IMU) is belt mounted to facilitate the equip ment of the user. The pedestrian trajectory is computed in real time. The resulting position is transmitted and displayed to the user on a smartphone where no specific application is installed. The description of our indoor experiments reveals the potential of this approach, in terms of positioning performance, with more than 75% of our experiments when the relative start-end error remains below 5% of the total traveled distance.

International audienceThe maturity of outdoor positioning systems based on satellites encourages indoor positioning research to focus on radio technologies. However, specific infrastructures often have to be deployed in this case. Then, inertial sensors appear to be a good relay to radio systems. A system fusing INS and GNSS could thereby compute a position anywhere. Yet, taking advantage of each sensor requires to know which one is the most reliable in real-time. Therefore, a quantification of the sensors' reliabity is introduced in this paper. This approach aims at running both outdoors and indoors. Moreover, the complexity of algorithms is carefully studied here to fit the user mobility requirements. Experiments are conducted in reproducible situations and results show that taking reliabilities into account benefits the hybridization of INS and GNSS for positioning in both convenient and constrained environments

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