A study on indoor pedestrian localization algorithms with foot-mounted sensors

2012 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2012 - Conference Proceedings

Volumn , Issue , 2012, Pages

  Romanovas, Michailas ^a   Goridko, Vadim ^a   Al Jawad, Ahmed ^a   Schwaab, Manuel ^a   Traechtler, Martin ^a   Klingbeil, Lasse ^b   Manoli, Yiannos ^c  

^a Hahn Schickard Gesellschaft   (Germany)

^b UNIVERSITY OF BONN   (Germany)

^c UNIVERSITY OF FREIBURG   (Germany)

Author keywords

Extended Kalman Filter; Indoor Localization; Inertial Measurement Unit; Pedestrian Navigation System; Unscented Kalman Filter; Zero Velocity Update Method

Indexed keywords

INDOOR LOCALIZATION; INERTIAL MEASUREMENT UNIT; PEDESTRIAN NAVIGATION SYSTEMS; UNSCENTED KALMAN FILTER; ZERO VELOCITY;

ATMOSPHERIC PRESSURE; ERROR CORRECTION; EXTENDED KALMAN FILTERS; NAVIGATION SYSTEMS; NONLINEAR FILTERING; SENSORS; UNITS OF MEASUREMENT;

ALGORITHMS;

EID: 84874239944     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IPIN.2012.6418886     Document Type: Conference Paper

References (27)

1. H.-S. Ahn and W. Yu, "Indoor mobile robot and pedestrian localization techniques," in Control, Automation and Systems, 2007. ICCAS '07. International Conference on, oct. 2007, pp. 2350-2354
2. S. Thrun, W. Burgard, and D. Fox, Probabilistic Robotics (Intelligent Robotics and Autonomous Agents). The MIT Press, September 2005
3. G. Glanzer, T. Bernoulli, T. Wiessflecker, and U. Walder, "Semiautonomous indoor positioning using MEMS-based inertial measurement units and building information," in Positioning, Navigation and Communication, 2009. WPNC 2009. 6th Workshop on, march 2009, pp. 135-139
4. G. Retscher, "Location determination in indoor environments for pedestrian navigation," in Position, Location, And Navigation Symposium, 2006 IEEE/ION, 25-27, 2006, pp. 547-555
5. R. Mautz, "The challenges of indoor environments and specification on some alternative positioning systems," in Positioning, Navigation and Communication, 2009. WPNC 2009. 6th Workshop on, march 2009, pp. 29-36
6. S.-W. Lee and K. Mase, "Activity and location recognition using wearable sensors," Pervasive Computing, IEEE, vol. 1, no. 3, pp. 24-32, 2002
7. S. House, S. Connell, I. Milligan, D. Austin, T. Hayes, and P. Chiang, "Indoor localization using pedestrian dead reckoning updated with RFID-based fiducials," in Engineering in Medicine and Biology Society, EMBC, 2011 Annual International Conference of the IEEE, 30 2011-sept. 3 2011, pp. 7598-7601
8. C. Laderriere, M. Heddebaut, J. Prost, A. Rivenq, F. Elbahhar, and J. Rouvaen, "Wide-band indoor localization effectiveness in presence of moving people," in Positioning, Navigation and Communication, 2008. WPNC 2008. 5th Workshop on, march 2008, pp. 103-111
9. D. Harmer, A. Yarovoy, N. Schmidt, K. Witrisal, M. Russell, E. Frazer, T. Bauge, S. Ingram, A. Nezirovic, A. Lo, L. Xia, B. Kull, and V. Dizdarevic, "An ultra-wide band indoor personnel tracking system for emergency situations (Europcom)," in Radar Conference, 2008. EuRAD 2008. European, oct. 2008, pp. 404-407
10. G. Retscher and Q. Fu, "Continuous indoor navigation with RFID and INS," in Position Location and Navigation Symposium (PLANS), 2010 IEEE/ION, may 2010, pp. 102-112
11. R. Feliz, E. Zalama, and J. Gmez, "Pedestrian tracking using inertial sensors," Journal of Physical Agents, vol. 3, no. 1, pp. 35-43, 2009. [Online]. Available: http://www.jopha.net/index.php/jopha/article/view/35
12. L. Klingbeil, M. Romanovas, P. Schneider, M. Traechtler, and Y. Manoli, "A modular and mobile system for indoor localization," in Indoor Positioning and Indoor Navigation (IPIN), 2010 International Conference on, sept. 2010, pp. 1-10
13. E. Foxlin, "Pedestrian tracking with shoe-mounted inertial sensors," Computer Graphics and Applications, IEEE, vol. 25, no. 6, pp. 38-46, Nov.-Dec. 2005
14. K. Abdulrahim, C. Hide, T. Moore, and C. Hill, "Aiding MEMS IMU with building heading for indoor pedestrian navigation," in Ubiquitous Positioning Indoor Navigation and Location Based Service (UPINLBS), 2010, oct. 2010, pp. 1-6
15. O. Bebek, M. Suster, S. Rajgopal, M. Fu, X. Huang, M. Cavusoglu, D. Young, M. Mehregany, A. van den Bogert, and C. Mastrangelo, "Personal navigation via shoe mounted inertial measurement units," in Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, oct. 2010, pp. 1052-1058
16. J. Bird and D. Arden, "Indoor navigation with foot-mounted strapdown inertial navigation and magnetic sensors [emerging opportunities for localization and tracking]," Wireless Communications, IEEE, vol. 18, no. 2, pp. 28-35, april 2011
17. B. Krach and P. Robertson, "Integration of foot-mounted inertial sensors into a Bayesian location estimation framework," in Positioning, Navigation and Communication, 2008. WPNC 2008. 5th Workshop on, march 2008, pp. 55-61
18. W. T. Faulkner, R. Alwood, D. W. Taylor, and J. Bohlin, "GPS-denied pedestrian tracking in indoor environments using an IMU and magnetic compass," in Proceedings of the 2010 International Technical Meeting of The Institute of Navigation. San Diego, CA: ION, January 2010, pp. 198-204
19. A. Jimenez, F. Seco, C. Prieto, and J. Guevara, "A comparison of pedestrian dead-reckoning algorithms using a low-cost MEMS IMU," in Intelligent Signal Processing, 2009. WISP 2009. IEEE International Symposium on, aug. 2009, pp. 37-42
20. A. Jimenez, F. Seco, J. Prieto, and J. Guevara, "Indoor pedestrian navigation using an INS/EKF framework for yaw drift reduction and a foot-mounted IMU," in Positioning Navigation and Communication (WPNC), 2010 7th Workshop on, march 2010, pp. 135-143
21. D. Chdid, R. Oueis, H. Khoury, D. Asmar, and I. Elhajj, "Inertial-vision sensor fusion for pedestrian localization," in Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on, dec. 2011, pp. 1695-1701
22. D. Fox, J. Hightower, L. Liao, D. Schulz, and G. Borriello, "Bayesian filtering for location estimation," Pervasive Computing, IEEE, vol. 2, no. 3, pp. 24-33, july-sept. 2003
23. R. van der Merwe and E. Wan, "Sigma-point Kalman filters for integrated navigation," in Proceedings of the 60th Annual Meeting of The Institute of Navigation (ION), Dayton, Ohio, June 2004, pp. 1-14
24. M. Romanovas, L. Klingbeil, M. Traechtler, and Y. Manoli, "Efficient orientation estimation algorithm for low cost inertial and magnetic sensor systems," in 2009 IEEE Workshop on Statistical Signal Processing. Cardiff, Wales, UK: IEEE, 2009
25. S. Julier, "The spherical simplex unscented transformation," in American Control Conference, 2003. Proceedings of the 2003, vol. 3, june 2003, pp. 2430-2434 vol.3
26. Y. Chen, R. Chen, L. Pei, T. Kroger, H. Kuusniemi, J. Liu, and W. Chen, "Knowledge-based error detection and correction method of a multi-sensor multi-network positioning platform for pedestrian indoor navigation," in Position Location and Navigation Symposium (PLANS), 2010 IEEE/ION, may 2010, pp. 873-879
27. Google Inc. and the Open Handset Alliance. (2011) Android sdk-api libraries and developer tools necessary to build, test, and debug apps for android. http://developer.android.com/sdk/index.html. [Online]. Available: http://developer.android.com/sdk/index.html