A Backtracking Particle Filter for fusing building plans with PDR displacement estimates

Widyawan,; Klepal, Martin; Beauregard, Stéphane

doi:10.1109/wpnc.2008.4510376

Cited by 76 publications

(30 citation statements)

References 6 publications

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“…It can be used with a map-matching technique combining the EKF output with a standard particle filter approach [12], [13], in which the random twodimensional motion of the particles on one floor is governed by the estimates that the EKF provides for the velocity and heading as well as their covariances. In our own "2.5D" approach for indoor map-matching, we allow the particles to change levels by passing through sectors that represent stairs or ladders and connect floors of different height levels.…”

Section: Experiments In An Industrial Facilitymentioning

confidence: 99%

Improving magneto-inertial attitude and position estimation by means of a magnetic heading observer

Chesneau

Hillion

Hullo

et al. 2017

2017 International Conference on Indoor Positioning and Indoor Navigation (IPIN)

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Abstract-This paper studies heading estimation jointly with the attitude and position estimation of a rigid body equipped with inertial and magnetic sensors in indoor environment. In contrast with other indoor dead-reckoning approaches, no assumption is made about the nature of the movement or environment layout. Based on a previous paper, an Extended Kalman Filter is designed, which includes inertial sensor biases and magnetic disturbances. A heuristic model of the dynamic of magnetic heading disturbances is then described and added to the observer. The latter is then evaluated in terms of position and heading error on experimental data, showing that in spite of high levels of disturbances, the magnetic field alone can be used to compute heading.

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Section: Experiments In An Industrial Facilitymentioning

confidence: 99%

Improving magneto-inertial attitude and position estimation by means of a magnetic heading observer

Chesneau

Hillion

Hullo

et al. 2017

2017 International Conference on Indoor Positioning and Indoor Navigation (IPIN)

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“…As a matter of fact, map matching has been extensively used for improving the accuracy of raw IMU positioning data. Widyawan et al [80] and Woodman and Harle [81] developed a particle filtering-based map-matching algorithm for inertial-positioning sensors using a metric-navigation model. Beauregard [9] showed how heading errors can be mitigated via map filtering techniques running over minimal a priori building geometry information.…”

Section: Motion Sensing Technologiesmentioning

confidence: 99%

Infrastructureless approach for ubiquitous user location tracking in construction environments

Khoury

Chdid

Oueis

et al. 2015

Automation in Construction

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“…(ii) No deployment aided by map-matching: Widyawan et al [39] have used floor plans to ensure that the successive dead reckoning estimates do not pass through walls using an algorithm based on particle filters. The idea is to discard the particles which pass through the walls and their results are obtained using building outlines.…”

Section: (I) No Deploymentmentioning

confidence: 99%

Towards a Rapidly Deployable Positioning System for Emergency Responders

Muthukrishnan¹,

Dulman²,

Langendoen³

2011

jgps

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Abstract-Providing ad-hoc solutions for positioning and tracking of emergency response teams is an important and safety-critical challenge. Although solutions based on inertial sensing systems are promising, they are subject to drift. We address the problem of positional drift by having the responders themselves deploy beacons, specifically ultrasound beacons, as they progress into an unknown environment. Our research focuses on a sensor network approach that does not require any pre-deployment of infrastructure. This paper targets two important aspects within the context of providing positioning service for emergency responders namely on how to locate the deployed static beacons, and on how to track the responders by using a combination of ultrasound and inertial measurements. The main contributions of this paper are: (i) characterisation of the errors encountered in an inertial-based pedestrian dead reckoning solution and ultrasound range measurements in a mobile setting, (ii) an algorithm for ultrasound beacon localisation (using multidimensional scaling), (iii) formulation of a Kalman filtering based algorithm for tracking the responder using a combination of ultrasound range and inertial measurements, and (iv) the presented algorithms are evaluated using data collected from real deployments and are compared against an ultra-wideband (UWB) precision location system. Our approach of preventing the drift in inertial estimates by combining with ultrasound measurements are promising and offers a viable solution to providing positioning and tracking support to emergency responders.

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A Backtracking Particle Filter for fusing building plans with PDR displacement estimates

Cited by 76 publications

References 6 publications

Improving magneto-inertial attitude and position estimation by means of a magnetic heading observer

Improving magneto-inertial attitude and position estimation by means of a magnetic heading observer

Infrastructureless approach for ubiquitous user location tracking in construction environments

Towards a Rapidly Deployable Positioning System for Emergency Responders

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