Indoor PDR performance enhancement using minimal map information and particle filters

Beauregard, Stéphane; Widyawan,; Klepal, Martin

doi:10.1109/plans.2008.4570050

Cited by 120 publications

(60 citation statements)

References 7 publications

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“…There are many possible ways to solve the drifting problem of the gyroscope, such as using complex compensation-control methods to compensate for the errors of the sensor for one [40], or adopting the map-matching algorithm to the pedestrian navigation systems for another [9,10]. For indoor environments, the radio-frequency beacon-based positioning, such as Wi-Fi or Bluetooth, is a good solution to overcome the drifting problem when the user travels a long distance.…”

Section: Resultsmentioning

confidence: 99%

“…The accumulative heading error of this test is within 1 deg after the subject walked for 40 s. The results demonstrate the short-term accuracy of the heading estimation. In terms of long-term accuracy, the map-matching method can be adopted to correct the heading errors [9,10]. Another way to reduce the accumulating error of heading is to use more accurate gyroscopes, which can be high-performance fiber-optic gyroscopes.…”

Section: Heading Estimationmentioning

confidence: 99%

See 1 more Smart Citation

A Knowledge-Based Step Length Estimation Method Based on Fuzzy Logic and Multi-Sensor Fusion Algorithms for a Pedestrian Dead Reckoning System

Lai

Chang

Tsai

et al. 2016

IJGI

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Abstract:The demand for pedestrian navigation has increased along with the rapid progress in mobile and wearable devices. This study develops an accurate and usable Step Length Estimation (SLE) method for a Pedestrian Dead Reckoning (PDR) system with features including a wide range of step lengths, a self-contained system, and real-time computing, based on the multi-sensor fusion and Fuzzy Logic (FL) algorithms. The wide-range SLE developed in this study was achieved by using a knowledge-based method to model the walking patterns of the user. The input variables of the FL are step strength and frequency, and the output is the estimated step length. Moreover, a waist-mounted sensor module has been developed using low-cost inertial sensors. Since low-cost sensors suffer from various errors, a calibration procedure has been utilized to improve accuracy. The proposed PDR scheme in this study demonstrates its ability to be implemented on waist-mounted devices in real time and is suitable for the indoor and outdoor environments considered in this study without the need for map information or any pre-installed infrastructure. The experiment results show that the maximum distance error was within 1.2% of 116.51 m in an indoor environment and was 1.78% of 385.2 m in an outdoor environment.

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Section: Resultsmentioning

confidence: 99%

Section: Heading Estimationmentioning

confidence: 99%

A Knowledge-Based Step Length Estimation Method Based on Fuzzy Logic and Multi-Sensor Fusion Algorithms for a Pedestrian Dead Reckoning System

Lai

Chang

Tsai

et al. 2016

IJGI

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show abstract

“…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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“…In [11], [12] a particle filter is used: Each particle represents a possible position of the user. Topology information is used to discard particles that cross walls or other obstacles.…”

Section: Related Workmentioning

confidence: 99%

Towards ubiquitous indoor location based services and indoor navigation

Greßmann

Klimek

Turau

2010

2010 7th Workshop on Positioning, Navigation and Communication

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Abstract-Outdoor navigation services have become ubiquitously available due to small handheld devices such as GPS enabled mobile phones or dedicated mobile navigation systems. Two main drivers were necessary in order to provide widespread location based services: Acquiring positioning information with a certain degree of precision and widespread (mobile) access to computer networks to use the position information with a large information basis such as the Internet. Envisioned is a future, where indoor navigation and location based services are used as naturally as outdoor location based services are now. To achieve this long term vision where users seamlessly navigate for example from work desk to departure gate at the airport and use location based services on the way, various challenges have to be solved.In this paper, these challenges and open issues are discussed. The paper proposes an architecture which abstracts from different mobile devices and localization technologies. Additionally, it sketches the use of indoor topology information to increase the accuracy of indoor localization. These two presented concepts form a basis for a transition period until standards for ubiquitous indoor location based services have emerged.

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Indoor PDR performance enhancement using minimal map information and particle filters

Cited by 120 publications

References 7 publications

A Knowledge-Based Step Length Estimation Method Based on Fuzzy Logic and Multi-Sensor Fusion Algorithms for a Pedestrian Dead Reckoning System

A Knowledge-Based Step Length Estimation Method Based on Fuzzy Logic and Multi-Sensor Fusion Algorithms for a Pedestrian Dead Reckoning System

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

Towards ubiquitous indoor location based services and indoor navigation

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