A Hybrid Indoor Localization and Navigation System with Map Matching for Pedestrians Using Smartphones

Sensors

Qinglin Tian³  Zoran Salcic⁴  Kevin I-Kai Wang⁴  Yun Pan¹  Kourosh Khoshelham² 

[1] Department of Information Science & Electronic Engineering, Zhejiang University, Hangzhou 310027, China;;id="af1-sensors-15-29827">1College of Electrical Engineering, Zhejiang University, Hangzhou 310027, ChinCollege of Electrical Engineering, Zhejiang University, Hangzhou 310027, China;Department of Electrical and Computer Engineering, University of Auckland, Auckland 1010, New Zealand;

关键词: pedestrian dead reckoning;    hybrid;    map matching;    drift-free;    particle filter;   

DOI  :  10.3390/s151229827

来源: mdpi

【 摘 要 】

Pedestrian dead reckoning is a common technique applied in indoor inertial navigation systems that is able to provide accurate tracking performance within short distances. Sensor drift is the main bottleneck in extending the system to long-distance and long-term tracking. In this paper, a hybrid system integrating traditional pedestrian dead reckoning based on the use of inertial measurement units, short-range radio frequency systems and particle filter map matching is proposed. The system is a drift-free pedestrian navigation system where position error and sensor drift is regularly corrected and is able to provide long-term accurate and reliable tracking. Moreover, the whole system is implemented on a commercial off-the-shelf smartphone and achieves real-time positioning and tracking performance with satisfactory accuracy.

【 授权许可】

CC BY   
© 2015 by the authors; licensee MDPI, Basel, Switzerland.