Optimal data fusion for pedestrian navigation based on UWB and MEMS

Renaudin, Valérie; Merminod, Bertrand; Kasser, Michel

doi:10.1109/plans.2008.4570054

Cited by 26 publications

(23 citation statements)

References 15 publications

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“…The last fusion strategy is loosely coupled, for example [16,17]: the inputs to the location estimator can be raw and/or preprocessed data issued from sub-systems. This strategy enables to mitigate the previously mentioned drawbacks of the decoupled and tightly coupled fusion strategies.…”

Section: Hybrid Data Fusion Strategiesmentioning

confidence: 99%

“…But another feature of navigation fusion filters concerns the way the IMU data are exploited. In a first approach, the inertial data are used in the prediction phase of the filter [17]. In the second one, they are integrated as observations in the correction phase [16].…”

Section: Hybrid Data Fusion Strategiesmentioning

confidence: 99%

“…In a navigation scenario, one INS can deliver relevant information out of raw inertial measurements for example, the pedestrian displacement amplitude, velocity, or heading [10][11][12]. Such information can then be used in addition to radiolocation measurements, as proposed by recent works in the field of hybrid data fusion for example, with GNSS pseudoranges in [13], with IR-UWB TOA in [14,15], with IR-UWB TDOA and AOA in [16,17], or even with WiFi received signal strength indicators (RSSI) fingerprints in [18].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Pedestrian Tracking Solution Combining an Impulse Radio Handset Transmitter with an Ankle-Mounted Inertial Measurement Unit

Youssef

Denis

Godin

et al. 2012

International Journal of Navigation and Observation

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We address the indoor tracking problem by combining an Impulse Radio-Ultra-Wideband handset with an ankle-mounted Inertial Measurement Unit embedding an accelerometer and a gyroscope. The latter unit makes possible the detection of the stance phases to overcome velocity drifts. Regarding radiolocation, a time-of-arrival estimator adapted to energy-based receivers is applied to mitigate the effects of dense multipath profiles. A novel quality factor associated with this estimator is also provided as a function of the received signal-to-noise ratio, enabling us to identify outliers corresponding to obstructed radio links and to scale the covariance matrix of radiolocation measurements. Finally, both radio and inertial subsystems are loosely-coupled into one single navigation solution relying on a specific extended Kalman filter. In the proposed fusion strategy, processed inertial data control the filter state prediction whereas Combined Time Differences Of Arrival are formed as input observations. These combinations offer low computational complexity as well as a unique filter structure over time, even after removing outliers. Experimental results obtained in a representatively harsh indoor environment emphasize the complementarity of the two technologies and the relevance of the chosen fusion method while operating with low-cost, noncollocated, asynchronous, and heterogeneous sensors.

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Section: Hybrid Data Fusion Strategiesmentioning

confidence: 99%

Section: Hybrid Data Fusion Strategiesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Pedestrian Tracking Solution Combining an Impulse Radio Handset Transmitter with an Ankle-Mounted Inertial Measurement Unit

Youssef

Denis

Godin

et al. 2012

International Journal of Navigation and Observation

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“…In contrast to outdoor navigation, where crude positioning of sub-meter accuracy often satisfies user needs, indoor applications may require accuracies as low as a centimeter. Furthermore, outdoor positioning and navigation has been well explored and standardized, whereas indoor navigation remains a recent research area which is still in the process of generating numerous new systems and algorithms [8,20].…”

Section: Introductionmentioning

confidence: 99%

Indoor navigation research with the Khepera III mobile robot: An experimental baseline with a case-study on ultra-wideband positioning

Prorok

Arfire

Bähr

et al. 2010

2010 International Conference on Indoor Positioning and Indoor Navigation

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Abstract-Recent substantial progress in the domain of indoor positioning systems and a growing number of indoor locationbased applications are creating the need for systematic, efficient, and precise experimental methods able to assess the localization and perhaps also navigation performance of a given device. With hundreds of Khepera III robots in academic use today, this platform has an important potential for single-and multi-robot localization and navigation research. In this work, we develop a necessary set of models for mobile robot navigation with the Khepera III platform, and quantify the robot's localization performance based on extensive experimental studies. Finally, we validate our experimental approach to localization research by considering the evaluation of an ultra-wideband (UWB) positioning system. We successfully show how the robotic platform can provide precise performance analyses, ultimately proposing a powerful approach towards advancements in indoor positioning technology.

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“…Recent work by Renaudin and Kasser demonstrates the fusion of pseudoranges and AOAs from a Ubisense system together with inertial sensing data using an extended Kalman fil-ter [164]. Curiously, their modelling equations are quite different to ours presented below (Eqns.…”

Section: Introductionmentioning

confidence: 94%

Multimodal localisation : analysis, algorithms and experimental evaluation

Muthukrishnan¹

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Optimal data fusion for pedestrian navigation based on UWB and MEMS

Cited by 26 publications

References 15 publications

Pedestrian Tracking Solution Combining an Impulse Radio Handset Transmitter with an Ankle-Mounted Inertial Measurement Unit

Pedestrian Tracking Solution Combining an Impulse Radio Handset Transmitter with an Ankle-Mounted Inertial Measurement Unit

Indoor navigation research with the Khepera III mobile robot: An experimental baseline with a case-study on ultra-wideband positioning

Multimodal localisation : analysis, algorithms and experimental evaluation

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