Use of high sensitivity GNSS receiver doppler measurements for indoor pedestrian dead reckoning

Sensors (Switzerland)

Volumn 13, Issue 4, 2013, Pages 4303-4326

  He, Zhe ^a   Renaudin, Valérie ^a   Petovello, Mark G ^a   Lachapelle, Gérard ^a  

^a UNIVERSITY OF CALGARY   (Canada)

Author keywords

Direct vector processing; Doppler measurements; High sensitivity GNSS; Indoor multipath; Pedestrian dead reckoning; Tight integration

Indexed keywords

ALGORITHMS; DOPPLER EFFECT; NAVIGATION; SIGNAL RECEIVERS;

DOPPLER MEASUREMENT; HIGH SENSITIVITY; MULTIPATH; PEDESTRIAN DEAD RECKONINGS; TIGHT INTEGRATIONS; VECTOR PROCESSING;

GLOBAL POSITIONING SYSTEM;

EID: 84875995682     PISSN: 14248220     EISSN: None     Source Type: Journal    
DOI: 10.3390/s130404303     Document Type: Article

References (24)

1. Foxlin, E. Inertial head-tracker sensor fusion by a complementary separate-bias Kalman filter. IEEE Comput. Graph. Appl. 2005, 25, 38-46.
2. Babu, R.; Wang, J. Ultra-Tight Integration of Pseudolites with INS. In Proceedings of the 2006 IEEE/ION Position, Location, and Navigation Symposium, San Diego, CA, USA, 25-27 April 2006; pp. 705-713.
3. Pany, T.; Winkel, J.; Riedl, B.; Restle, M.; Wörz, T.; Schweikert, R.; Niedermeier, H.; Ameres, G.; Eissfeller, B.; Lagrasta, S.; et al. Performance of a Partially Coherent Ultra-Tightly Coupled GNSS/INS Pedestrian Navigation System Enabling Coherent Integration Times of Several Seconds to Track GNSS Signals Down to 1.5 dB-Hz. In Proceedings of the 22nd International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS 2009), Savannah, GA, USA, 22-25 September 2009.
4. Li, T.; Petovello, M.; Lachapelle, G.; Basnayake, C. Real-Time Ultra-Tight Integration of GPS L1/L2C and Vehicle Sensors. In Proceedings of the 2011 International Technical Meeting of the Institute of Navigation, San Diego, CA, USA, 24-26 January 2011.
5. Ladetto, Q.; Gabaglio, V.; Merminod, B. Two Different Approaches for Augmented GPS Pedestrian Navigation. In Proceedings of the International Symposium on Location Based Services for Cellular Users (LOCELLUS 2001), Munich, Germany, 5-7 February 2001.
6. Randell, C.; Djiallis, C.; Muller, H. Personal Position Measurement Using Dead Reckoning. In Proceedings of the Seventh International Symposium on Wearable Computers, White Plains, NY, USA, 18-21 October 2003; pp. 166-173.
7. Afzal, H.; Renaudin, V.; Lachapelle, G. Multi-magnetometer based perturbation mitigation for indoor orientation estimation. Navigation 2011, 58, 279-292.
8. Renaudin, V.; Susi, M.; Lachapelle, G. Step length estimation using handheld inertial sensors. Sensors 2012, 12, 8507-8525.
9. Salychev, O.S.; Voronov, V.V.; Cannon, M.E.; Nayak, R.; Lachapelle, G. Low Cost INS/GPS Integration: Concepts and Testing. In Proceedings of the 2000 National Technical Meeting of The Institute of Navigation, Anaheim, CA, USA, 26-28 January 2000.
10. Lachapelle, G. Pedestrian navigation with high sensitivity GPS receivers and MEMS. Pers. Ubiquit. Comput. 2007, 11, 481-488.
11. Kjærgaard, M.B.; Blunck, H.; Godsk, T.; Toftkjær, T.; Christensen, D.L.; Grønbæk, K. Indoor positioning using GPS revisited. Lect. Notes Comput. Sci. 2010, 6030, 38-56.
12. Renaudin, V.; He, Z.; Petovello, M.G. Characterization of the Impact of Indoor Doppler Errors on Pedestrian Dead Reckoning. In Proceedings of the 2012 IEEE/ION Position Location and Navigation Symposium (PLANS), Myrtle Beach, SC, USA, 23-26 April 2012; pp. 969-979.
13. Van Graas, F.; Soloviev, A.; Haag, M.U.D.; Gunawardena, S.; Braasch, M. Comparison of Two Approaches for GNSS Receiver Algorithms: Batch Processing and Sequential Processing Considerations. In Proceedings of the 18th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2005), Long Beach, CA, USA, 13-16 September 2005; pp. 200-211.
14. Borio, D.; Sokolova, N.; Lachepelle, G. Doppler measurement accuracy in standard and high-sensitivity GNSS receivers. IET Rad. Sonar Navig. 2010, 5, 657-665.
15. Proakis, J. Digital Communications, 4th ed.; McGraw-Hill Companies, Inc.: New York, USA, 2001.
16. He, Z.; Petovello, M.; Lachapelle, G. Modeling Hsgps Doppler Errors in Indoor Environments for Pedestrian Dead-Reckoning. In Proceedings of the 2012 International Technical Meeting of the Institute of Navigation, Newport Beach, CA, USA, 30 January-1 February 2012.
17. Stocia, P.; Moses, R. Introduction to Spectral Analysis; Prentice Hall: Upper Saddle River, USA, 1997.
18. Fontan, F.P.; Espineira, P.M. Modelling the Wireless Propagation Channel; John Wiley and Sons Ltd.: West Sussex, UK, 2008.
19. He, Z.; Petovello, M.G.; Lachapelle, G. Improved Velocity Estimation with High-Sensitivity Receivers in Indoor Environments. In Proceedings of the ION GNSS 2012, Nashville, TN, USA, 17-21 September 2012.
20. Kay, S.M. Fundamentals of Statistical Signal Processing: Estimation Theory; Prentice Hall: Upper Saddle River, USA, 1993.
21. Brown, R.G.; Hwang, P.Y.C. Introduction to Random Signals and Applied Kalman Filtering; John Wiley and Sons Ltd.: New York, USA, 1997.
22. Novatel SPANTM Brochure. Available online http://www.novatel.com/assets/Documents/Papers/IMU-LCI.pdf (assessed on 17 February 2013).
23. O'Driscoll, C.; Lachapelle, G.; Tamazin, M. Dynamic duo-combined GPS/GLONASS receivers in urban environments. GPS World 2011, 22, 51-58.
24. Godha, S.; Lachapelle, G.; Cannon, M.E. Integrated GPS/INS System for Pedestrian Navigation in A Signal Degraded Environment. In Proceedings of the 19th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2006), Fort Worth, TX, USA, 17-21 September 2006.