Fusion of Data from Inertial Sensors, Raster Maps and GPS for Estimation of Pedestrian Geographic Location in Urban Terrain

Metrology and Measurement Systems

Przemyslaw Baranski¹  Pawel Strumillo¹  Maciej Polanczyk¹ 

关键词: pedestrian navigation;    data fusion;    GPS;    digital maps;    particle filtering;    electronic travel aids;   

DOI  :  10.2478/v10178-011-0014-3

来源: Versita

【 摘 要 】

An electronic system and an algorithm for estimating pedestrian geographic location in urban terrain is reported in the paper. Different sources of kinematic and positioning data are acquired (i.e.: accelerometer, gyroscope, GPS receiver, raster maps of terrain) and jointly processed by a Monte-Carlo simulation algorithm based on the particle filtering scheme. These data are processed and fused to estimate the most probable geographical location of the user. A prototype system was designed, built and tested with a view to aiding blind pedestrians. It was shown in the conducted field trials that the method yields superior results to sole GPS readouts. Moreover, the estimated location of the user can be effectively sustained when GPS fixes are not available (e.g. tunnels).

【 授权许可】

Unknown