Pedestrian Dead Reckoning-Assisted Visual Inertial Odometry Integrity Monitoring

Abstract

Visual inertial odometers (VIOs) have received increasing attention in the area of indoor positioning due to the universality and convenience of the camera. However, the visual observation of VIO is more susceptible to the environment, and the error of observation affects the final positioning accuracy. To address this issue, we analyzed the causes of visual observation error that occur under different scenarios and their impact on positioning accuracy. We propose a new method of using the short-time reliability of pedestrian dead reckoning (PDR) to aid in visual integrity monitoring and to reduce positioning error. The proposed method selects optimized positioning by automatically switching between outputs from VIO and PDR. Experiments were carried out to test and evaluate the proposed PDR-assisted visual integrity monitoring. The sensor suite of experiments consisted of a stereo camera and an inertial measurement unit (IMU). Results were analyzed in detailed and indicated that the proposed system performs better for indoor positioning within an environment that contains low illumination, little background texture information, or few moving objects.

Integrity Monitoring for Bluetooth Low Energy Beacons RSSI Based Indoor Positioning

“…Ascher C et al [7] investigated a UWB/INS positioning system and proposed an integrity monitoring algorithm based on innovation of extended Kalman filter, which can effectively detect and isolate the TDOA observation outliers to further improve positioning accuracy. Yuqin Wang et al [8] proposed a method of using the shorttime reliability of PDR to aid in visual integrity monitoring and to reduce positioning error. Yinzhi Zhao et al [9] aimed at indoor high-precision engineering application proposed carrier phase-based integrity monitoring (CRAIM) algorithm to identify and exclude potential faults of the pseudolites, the CRAIM ensured the accuracy and reliability of positioning results and achieved accuracies at the centimeter level for dynamic experiments and millimeter levels for static ones.…”

“…However, the study did not carry out specific integrity monitoring algorithms. In [5][6][7][8][9], the proposed integrity monitoring algorithms only focus on a single fault (single gross error), and all lack an alert mechanism for cases when positioning accuracy completely dissatisfies user requirements.…”