An improved pedestrian inertial navigation system for indoor environments

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2011, Pages 2505-2510

  Lamy Perbal, Sylvie ^a   Boukallel, Mehdi ^a   Castañeda, Nadir ^a  

^a INSTITUT DE RADIOPROTECTION ET DE SÛRETÉ NUCLÉAIRE   (France)

Author keywords

[No Author keywords available]

Indexed keywords

DRIFT CORRECTION; INDIRECT KALMAN FILTER; INDOOR ENVIRONMENT; PEDESTRIAN TRACKING; POSITION ACCURACY; REAL-TIME IMPLEMENTATIONS; STANCE PHASE;

FUZZY FILTERS; FUZZY LOGIC; INERTIAL NAVIGATION SYSTEMS; NAVIGATION; ROBOTICS;

INTELLIGENT ROBOTS;

EID: 84455201848     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2011.6048112     Document Type: Conference Paper

References (20)

1. Riebeck M. Stark, A. and J. Kawalek. How to design an advanced pedestrian navigation system: Field trial results. In 4th IEEE Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, IDAACS, April, 15 2007.
2. E. Foxlin. Pedestrian tracking with shoe-mounted inertial sensors. IEEE Comput. Graph. Appl., 25(6):38-46, 2005. (Pubitemid 41709750)
3. N. Samama. Global Positioning: Technologies and Performance, volume 1. Wiley-Blackwell, 2008.
4. Young Soo Suh and Sangkyung Park. Pedestrian inertial navigation with gait phase detection assisted zero velocity updating. In Proc. 4th International Conference on Autonomous Robots and Agents ICARA 2009, pages 336-341, 2009.
5. Widyawan, M. Klepal, and S. Beauregard. A backtracking particle filter for fusing building plans with pdr displacement estimates. In Proc. 5th Workshop on Positioning, Navigation and Communication WPNC 2008, pages 207-212, 27-27 March 2008.
6. Silva P.F. Silva J. S. da Silva T. F. R. Nunes M. S. Nunes F. D. Lorga, J. F. M. and F. M. G. Sousa. Gnss hybridization for indoor positioning. In 5th ESA Workshop on Satellite Navigation Technologies and European Workshop on GNSS Signals and Signal Processing (NAVITEC), February 4, 2010.
7. P. Puricer and P. Kovar. Technical limitations of gnss receivers in indoor positioning. In 17th International Conference Radioelektronika, June 18, 2007.
8. D. Skournetou and E. Lohan. Pulse shaping investigation for the applicability of future gnss signals in indoor environments. In International Conference on Indoor Positioning and Indoor Navigation (IPIN), September 18, 2010.
9. B. Krach and P. Roberston. Cascaded estimation architecture for integration of foot-mounted inertial sensors. In Proc. IEEE/ION Position, Location and Navigation Symposium, pages 112-119, 2008.
10. Lauro Ojeda and Johann Borenstein. Non-gps navigation with the personal dead-reckoning system. In SPIE Defense and Security Conference, Unmanned Systems Technology IX, April 9-13 2007.
11. S. Godha and G. Lachapelle. Foot mounted inertial system for pedestrian navigation. Measurement Science and Technology, 19(7), jul 2008.
12. Perfilieva I. Novak, V. and J. Mockor. Mathematical Principles of Fuzzy Logic. Springer, 1999.
13. D. H. Titterton and L. J. Weston. Strapdown inertial navigation technology. Institution of Engineering and Technology, 2004.
14. Mohammed El-Diasty and Spiros Pagiatakis. Calibration and stochastic modelling of inertial navigation sensor errors. JGPS, 7:170-182, 2008.
15. Mohammed El-Diasty and Spiros Pagiatakis. A rigorous temperature- dependent stochastic modelling and testing for mems-based inertial sensor errors. Sensors, 9:8473-8489, 2009.
16. Nikolas Trawny and Stergios I. Roumeliotis. Indirect kalman filter for 3d attitude estimation (a tutorial for quaternion algebra). Technical report, Department of Computer Science & Engineering, University of Minnesota, March 2005.
17. S. I. Roumeliotis, G. S. Sukhatme, and G. A. Bekey. Circumventing dynamic modeling: evaluation of the error-state kalman filter applied to mobile robot localization. In Proc. IEEE International Conference on Robotics and Automation, volume 2, pages 1656-1663 vol.2, 1999.
18. F. Landis Markley. Multiplicative vs. additive filtering for spacecraft attitude determination. Dynamics and Control of Systems and Structures in Space, 2004.
19. P. S. Maybeck. Stochastic Models, Estimation and Control, volume 1. New York: Academic Press, 1979.
20. L. Schimelevich and R. Naor. New approach to corse alignment. In IEEE Position Location and Navigation Symposium, pages 324-327, 1996.