A constraint approach for UWB and PDR fusion

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

Volumn , Issue , 2012, Pages

  Zampella, Francisco ^a   De Angelis, Alessio ^b   Skog, Isaac ^b   Zachariah, Dave ^b   Jimenez, Antonio ^a  

^a CSIC   (Spain)

^b ROYAL INSTITUTE OF TECHNOLOGY   (Sweden)

Author keywords

nonlinear constraints; Pedestrian Dead Reckoning; sensor fusion; Ultra Wide Band; zero velocity detection

Indexed keywords

COMPLEMENTARY TECHNIQUES; DEAD RECKONING; NON-LINEAR CONSTRAINTS; POSITION ESTIMATION; RADIO FREQUENCIES; SENSOR FUSION; UPPER BOUND;

SENSORS;

NAVIGATION;

EID: 84874283869     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IPIN.2012.6418929     Document Type: Conference Paper

References (23)

1. F. Zampella, A. Jimenez, F. Seco, J. Prieto, and J. Guevara, "Simulation of foot-mounted IMU signals for the evaluation of PDR algorithms," Indoor Positioning and Indoor Navigation (IPlN), 2011 International Conference on, pp. 1-7, sept. 2011
2. A. Jimenez, F. Seco, J. Prieto, and J. Guevara, "A comparison of Pedestrian Dead-Reckoning algorithms using a low-cost MEMS IMU," in 2009 IEEE International Symposium on Intelligent Signal Processing, pp. 37-42, Ieee, Aug. 2009
3. T. Skog, P. Handel, J. Nilsson, and J. Rantakokko, "Zero-velocity detection-an algorithm evaluation," Transactions on, vol. 57, pp. 2657-2666, nov. 2010
4. J. Borenstein, "Personal Dead-reckoning ( PDR ) System for Firefighters," Emergency Responders, Worcester, MA, August 2-3, 2010, p. 13,2010
5. F. Zampella, M. Khider, P. Robertson, and A. Jimenez, "Unscented Kalman filter and Magnetic Angular Rate Update (MARU) for an improved Pedestrian Dead-Reckoning," Symposium (PLANS), 2012 IEEE/JON, pp. 129-139, april 2012
6. F. Seco, C. Plagemann, A. Jimenez, and W. Burgard, "Improving RFID-Based Indoor Positioning Accuracy Using Gaussian Processes," International Conference on Indoor Positioning and Indoor Navigation, pp. 15-17, 2010
7. A. De Angelis, M. Dionigi, A. Moschitta, and P. Carbone, "A low-cost ultra-wideband indoor ranging system," IEEE Transactions on, vol. 58, pp. 3935-3942, dec. 2009
8. A. De Angelis, J. O. Nilsson, T. Skog, P. Handel, and P. Carbone, "Indoor positioning by ultra wide band radio aided inertial navigation," Metrology and Measurement Systems, vol. 17, no. 3, pp. 447-460, 2010. QC 20110204
9. P. Kemppi, T. Rautiainen, V. Ranki, F. Belloni, and J. Pajunen, "Hybrid positioning system combining angle-based localization,p edestrian dead reckoning and map filtering," Positioning and Indoor Navigation, pp. 15-17, September 2010
10. S. House, S. Connell, 1. Milligan, D. Austin, T. Hayes, and P. Chiang, "Indoor localization using pedestrian dead reckoning updated with rfidbased fiducials," 2011 Annual International Conference of the IEEE, pp. 7598-7601, 30 201 I-sept. 3 2011
11. J. Rantakokko, J. Rydell, P. Stromback, P. Handel, J. Callmer, D. Tornqvist, F. Gustafsson, M. Jobs, and M. Gruden, "Accurate and reliable soldier and first responder indoor positioning: multisensor systems and cooperative localization," pp. 10-18, april 2011
12. A. Jimenez Ruiz, F. Seco Granja, J. Prieto Honorato, and J. Guevara Rosas, "Accurate pedestrian indoor navigation by tightly coupling foot-mounted imu and rfid measurements," IEEE Transactions on, vol. 61, pp. 178-189, jan. 2012
13. J. B. Bancroft and G. Lachapelle, "Data fusion algorithms for multiple inertial measurement units," 2011
14. J. Pinchin, C. Hide, K. Abdulrahim, T. Moore, and C. Hill, "Integration of Heading-Aided MEMS IMU with GPS for Pedestrian Navigation," Proceedings of the 24th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS 201 I), p. 1346, September 2011
15. D. Simon and T. L. Chia, "Kalman filtering with state equality constraints," vol. 38, pp. 128-136, jan 2002
16. S. Julier and J. LaViola, "On kalman filtering with nonlinear equality constraints,"-2784, june 2007
17. D. Simon, "Kalman filtering with state constraints: A survey of linear and nonlinear algorithms," pp. 1303-1318, august 2010
18. C. Yang and E. Blasch, "Kalman filtering with nonlinear state constraints," vol. 45, pp. 70-84, jan. 2009
19. D. Simon and D. L. Simon, "Constrained kalman filtering via density function truncation for turbofan engine health estimation," Sci., vol. 41, pp. 159-171, Feb. 2010
20. D. Zachariah, T. Skog, M. Jansson, and P. Hndel, "Bayesian estimation with distance bounds," publication), 2012
21. Ubisense Ltd., The Ubisense Precise Real-time Location System-Series 7000 Sensor, 2011
22. A. De Angelis, P. Handel, and J. Rantakokko, "Measurement report. Laser total station campaign in KTH R I for Ubisense system accuracy evaluation," 2012. (Technical Report) QC 20120618 [Online]. Available: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-98046
23. J.-O. Nilsson, 1. Skog, P. Handel, and K. Hari, "Foot-mounted INS for everybody-an open-source embedded implementation," Location and Navigation Symposium (PLANS), 20I2 IEEEIION, pp. 140-145, april 2012.