Bayesian filtering based WiFi/INS integrated navigation solution for GPS-denied environments

Navigation, Journal of the Institute of Navigation

Volumn 58, Issue 2, 2011, Pages 111-125

  Atia, M M ^a   Noureldin, A ^a   Georgy, J ^b   Korenberg, M ^a  

^a QUEEN S UNIVERSITY   (Canada)

^b Invensense Inc   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

GLOBAL POSITIONING SYSTEM; INDOOR POSITIONING SYSTEMS; INERTIAL NAVIGATION SYSTEMS; MICROELECTROMECHANICAL DEVICES; NAVIGATION SYSTEMS; STANDARDS; WI-FI; WIRELESS LOCAL AREA NETWORKS (WLAN);

BAYESIAN FILTERING; DENSE URBAN ENVIRONMENTS; IN-DOOR NAVIGATIONS; INERTIAL NAVIGATION SYSTEMS (INS); INTEGRATED NAVIGATION; MEMS BASED GYROSCOPES; NAVIGATION ACCURACY; PHYSICAL EXPERIMENTS;

AIR NAVIGATION;

EID: 80052333901     PISSN: 00281522     EISSN: None     Source Type: Journal    
DOI: 10.1002/j.2161-4296.2011.tb01795.x     Document Type: Article

References (43)

1. Farrell, J. A., Aided Navigation, GPS with High Rate Sensors, McGraw Hill, 2008.
2. Grewal, M., Weill, S. L. R, and Andrews, A. P., Global Positioning Systems, Inertial Navigation, and Integration, Wiley & Sons, Inc, 2007.
3. Black, U., Mobile and Wireless Networks, Prentice Hall Series, 1996.
4. Wong, K. D., "Wireless Internet Telecommunications", Mobile Communication Series, Artech House, Inc, 2005.
5. Smith, C. and Meyer, J., 3G Wireless with WiMAX and WiFi, McGraw-Hill, 2005.
6. Lim, H., Kung, L., Hou, J. C., and Luo, H., "Zero-Configuration Indoor Localization Over IEEE 802.11 Wireless Infrastructure", IEEE INFOCOM 2006, Barcelona, Spain, April 2006.
7. Heredia, B., Ocaa, M., Bergasa, L. M., Sotelo, M. A., Revenga, P., Flores, R., Barea, R., and Lopez, E., "People Location System based on WiFi Signal Measure", IEEE International Symposium on Intelligent Signal Processing, WISP 2007.
8. Roxin, A., Gaber, J., Wack, M., and Nait-Sidi-Moh, A., "Survey of Wireless Geolocation Techniques", Globecorn Workshops, Washington, DC, 2007, pp. 1-9.
9. Liu, H., Darabi, H., Banerjee, P., and Jing, L., "Survey of Wireless Indoor Positioning Techniques and Systems", IEEE Transactions on Systems, Man, and Cybernetics, Part C, Applications and Reviews, 2007, pp. 1067-1080. (Pubitemid 350130704)
10. Liu, J., Chen, R., Pei, L., Chen, W, Tenhunen, T., Kuusniemi, H., Kroger, T., and Chen Y., "Accelerometer Assisted Robust Wireless Signal Positioning Based on a Hidden Markov Model", Proceedings of IEEE/ION PLANS 2010, Indian Wells, CA, May 2010, pp. 488-497.
11. Tsui, A., Chuang, Y., and Chu, H., "Unsupervised Learning for Solving RSS Hardware Variance Problem in WiFi Localization", Springer, Mobile Network Appliance, Vol. 14, January 2009, pp. 677-691.
12. Zhao, X., Goodall, C, Syed, Z., Wright, B., and ElSheimy, N., "Wi-Fi Assisted Multi-sensor Personal Navigation System for Indoor Environments", Proceedings of the 2010 International Technical Meeting of The Institute of Navigation, San Diego, CA, January 2010, pp. 236-243.
13. Hernandez, N., Herranz, F., Ocana, M., and Bergasa, L. M., "WiFi Localization System Based on Fuzzy Logic to deal with Signal Variations", Proceedings of the 14th IEEE International Conference on Emerging Technologies and Factory Automation, September 2009.
14. Chen, Y. C., Chiang, J. R., Chu, H., Huang, P., and Tsui, A. W, "Sensor-Assisted Wi-Fi Indoor Location System for Adapting to Environmental Dynamics", Association for Computing Machinery, Sensor Networks Sessions, ISBN: 1-59593-188-0, 2005, pp. 118-125. (Pubitemid 44440708)
15. Chen, H., Ping, D., Xu, Y, and Li, X., "A Novel Localization Scheme Based on RSS Data for Wireless Sensor Networks", Springer, LNCS 2006, Vol. 3842/2006, pp. 315-320, DOI: 10.1007/11610496-42. (Pubitemid 43973355)
16. Arulampalam, M. S., Maskell, S., Gordon, N., and Clapp, T., "A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking", IEEE Transactions on Signal Processing, Vol. 50, No. 2, February 2002.
17. Diard, J., Bessière, P., and Mazer, E. "A Survey of Probabilistic Models, Using the Bayesian Programming Methodology as a Unifying Framework", The International Conference on Computational Intelligence, Robotics and Autonomous Systems, Singapore, December 2003.
18. Georgy, J., Noureldin, A., Korenberg, M., and Bayoumi, M., "Low Cost 3D Navigation Solution for RISS/GPS Integration Using Mixture Particle Filter", IEEE Transactions on Vehicular Technology, Vol. 59, No. 2, February 2010, pp. 599-615.
19. Atia, M. M., Georgy, J., Korenberg, M. J., and Noureldin, A., "Real-Time Implementation of Mixture Particle Filter for 3D RISS/GPS Integrated Navigation Solution", Electronic Letters, Vol. 46, No. 15, 22 July 2010, pp. 1083-1084.
20. Bensky, A., Wireless Positioning Technologies and Applications, Artech House, 2008.
21. Bose, A. and Foh, C. H., "A Practical Path Loss Model For Indoor WiFi Positioning Enhancement", The International Conference on Information, Communications, and Signal Processing, Singapore, December 2007.
22. Lassabe, F., Canalda, P., Chatonnay, P., and Spies, F., "A Friis-based Calibrated Model for WiFi Terminal Positioning", Proceedings of the Sixth IEEE International Symposium on a World of Wireless Mobile and Multimedia Networks, 2005.
23. Farivar, R., Wiczer, D., Gutierrez, A., and Campbell, R. H., "A Statistical Study on the Impact of Wireless Signals' Behavior on Location Estimation Accuracy in 802.11 Fingerprinting Systems", Proceedings of the IEEE International Parallel & Distributed Processing Symposium (IPDPS 2009), 2009.
24. Ocan, M., Bergasa, L., Sotelo, M., Flores, R., Lopez, E., and Barea, R., "Training Method Improvements of a WiFi Navigation System Based on POMDP", Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, October, 2006.
25. Titterton, D. H., and Weston, J. L., Strapdown Inertial Navigation Technology, 2nd Ed., The Institution of Electrical Engineers, 2004.
26. Anne, K. R., Kyamakya, K., Erbas, F, Takenga, C, and Chedjou, J. C, "GSM RSSI-based Positioning Using Extended Kalman Filter for Training Artificial Neural Networks", IEEE Vehicular Technology Conference, Fall 2004.
27. Chen, Q., Lee, D., and Lee, W C, "Rule-Based WiFi Localization Methods", International Conference on Embedded and Ubiquitous Computing, IEEE/IFIP 2008.
28. IEEE Standard For Information Technology, Telecommunications and Information Exchange Between Systems, Local and Metropolitan Area Networks, Specific Requirements, Part 11: Wireless LAN Medium Access Control (MAC) and Physical Layer (PHY) Specifications, IEEE web site, 2009.
29. Ciurana, M., Barcelo-Arroyo, F., and Izquierdo, F., "A Ranging System with IEEE 802.11 Data Frames", IEEE Radio and Wireless Symposium, 2007.
30. Chen, Y. and Luo, R., "Design and Implementation of a WiFi-based Local Locating System", IEEE International Conference on Portable Information Devices, PORTABLE07, October 2007, pp. 1-5.
31. Xu, Y., Zhou, M., and Ma, L., "WiFi Indoor Location Determination via Anns with PCA Methods", IEEE International Conference on Network Infrastructure and Digital Content (IC-NIDC 2009), pp. 647-651.
32. Duvallet, F. and Tews, A. D., "WiFi Position Estimation in Industrial Environments Using Gaussian Processes", IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, September 22-26, 2008.
33. Llombart, M., Ciurana, M., and Barcelo-Arroyo, F., "On the Scalability of a Novel WLAN Positioning System Based on Time of Arrival Measurements", Proceedings of the 5th Workshop on Positioning, Navigation and Communication (WPNC 2008), 2008.
34. Hazas, M., Scott, J., and Krumm, J., "Location-Aware Computing Comes of Age", IEEE Computer, Vol. 37, No. 2, 2004, pp. 95-97.
35. Godha, S. and Cannon, M. E., "GPS/MEMS INS Integrated System for Navigation in Urban Areas", GPS Solutions, Vol. 11, No. 3, July 2007, pp. 193-203.
36. Noureldin, A., Karamat, T. B., Eberts, M. D., and ElShafie, A., "Performance Enhancement of MEMS-based INS/GPS Integration for Low Cost Navigation Applications", IEEE Transactions on Vehicle Technology, Vol. 58, No. 3, March 2009, pp. 1077-1096.
37. Dyckman, H. L., Sloat, S., and Pettus, B., "Particle Filtering to Improve GPS/INS Integration", Proceedings of the 17th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2004), Long Beach, CA, September 2004, pp. 1619-1626. (Pubitemid 40971137)
38. Rasmussen, C. E., and Williams, K. I., Gaussian Processes for Machine Learning, MIT Press, 2006.
39. Doucet, A., Godsill, S. J., and Andrieu, C, "On Sequential Monte Carlo Sampling Methods for Bayesian Filtering", Statistics and Computing, Vol. 10, November 2000, pp. 197-208.
40. Jensfelt, P., Wijk, O., Austin, D., and Andersson, M., "Experiments on Augmenting Condensation for Mobile Robot Localization", Proceedings of the IEEE International Conference on Robotics and Automation (ICRA-2000), Vol. 3, San Francisco, CA, 2000, pp. 2518-2524.
41. Gordon, N. J., Salmond, D. J., and Smith, A. F., "Novel Approach to Nonlinear/Nongaussian Bayesian State Estimation", IEE Proceedings-F (Radar and Signal Processing), 1993, Vol. 140, pp. 107-113.
42. ADIS16300 SPECS: http://www.analog.com/static/imported-files/data-sheets/ ADIS16300.pdf
43. ARM STM32F103RET6: http://www.st.com/stonline/products/literature/ds/ 14611.pdf