Particle filter for context sensitive indoor pedestrian navigation

Peltola, Pekka and Hill, Chris and Moore, Terry (2016) Particle filter for context sensitive indoor pedestrian navigation. In: 2016 International Conference on Localization and GNSS, ICL-GNSS 2016, 28-30 June 2016, Barcelona, Spain.

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Novel particle filter design combines foot mounted inertial (IMU), bluetooth low energy (BLE) and ultra-wideband (UWB) technologies along with map matching into a seamless integrated navigation system for indoors. The system was evaluated by 10 test walks along an 80m long indoor track including stairs and running. 95% of the time the average error for a particle was below 3.1 m with filter completion success rate of 90%. Furthermore, a system without UWB using only IMU, BLE and map matching achieved an average error for a particle to be below 3.6 m with filter completion success rate of 70%. The selected technologies and sensors are affordable and easily deployable. Inertial measurement unit's characteristics complement the disadvantages in the rf technologies and vice versa. The code for the rover can be implemented on a modern mobile device together with a foot mounted IMU.

Item Type: Conference or Workshop Item (Paper)
Keywords: Bandpass filters; global positioning system; indoor postioning systems; mobile devices; monte carlo methods; navigation systems; units of measurement; bluetooth low energies (ble); context sensitive; inertial measurement unit; integrated navigation systems; particle filter; pedestrian navigation; ultra-wideband technology
Schools/Departments: University of Nottingham UK Campus > Faculty of Engineering
Identification Number:
Depositing User: Mellor, Alison
Date Deposited: 30 Sep 2016 14:37
Last Modified: 01 Oct 2016 14:13

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