Indoor Pedestrian Navigation Using Foot-Mounted IMU and Portable Ultrasound Range Sensors

Sensors

Gabriel Girard³  Stéphane Côté²  Sisi Zlatanova¹  Yannick Barette²  Johanne St-Pierre² 

[1] Section GIS Technology, OTB, Delft University of Technology, Jaffalaan 9, Delft 2628 BX, The Netherlands; E-Mails:;Applied Research Group, Bentley Systems, 3645 boulevard Sainte-Anne, Québec G1E 3L1, QC, Canada; E-Mails:;Department of Computer Science, Université de Sherbrooke, 2500 boulevard de l’Université, Sherbrooke J1K 2R1, QC, Canada

关键词: indoor localization;    inertial tracking;    model-based navigation;    ultrasound range sensors;   

DOI  :  10.3390/s110807606

来源: mdpi

【 摘 要 】

Many solutions have been proposed for indoor pedestrian navigation. Some rely on pre-installed sensor networks, which offer good accuracy but are limited to areas that have been prepared for that purpose, thus requiring an expensive and possibly time-consuming process. Such methods are therefore inappropriate for navigation in emergency situations since the power supply may be disturbed. Other types of solutions track the user without requiring a prepared environment. However, they may have low accuracy. Offline tracking has been proposed to increase accuracy, however this prevents users from knowing their position in real time. This paper describes a real time indoor navigation system that does not require prepared building environments and provides tracking accuracy superior to previously described tracking methods. The system uses a combination of four techniques: foot-mounted IMU (Inertial Motion Unit), ultrasonic ranging, particle filtering and model-based navigation. The very purpose of the project is to combine these four well-known techniques in a novel way to provide better indoor tracking results for pedestrians.

【 授权许可】

CC BY   
© 2011 by the authors; licensee MDPI, Basel, Switzerland.