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Foot-mounted inertial sensor is a practical and efficient approach for indoor personnel positioning, because it requires neither pre-deployed infrastructure nor on-line “fingerprint” database. To suppress the heading drift of gyroscopes, magnetic field is often used as a stable orientation reference. But the magnetic field inside buildings changes rapidly while space and time changes, and it is also...
Robust feature tracking is a basic requisite for indoor navigation. The Scale Invariant Features Transform (SIFT) features are invariant to image translation, scaling, rotation, and partially invariant to illumination changes. Therefore, it is widely used for image matching based indoor navigation. However, the implementation of the traditional SIFT algorithm needs excessive computation operations,...
The design of an offline algorithm for smartphone based indoor localization is outlined, discussed and evaluated. The algorithm performs dead reckoning using accelerometer-, compass- and gyroscope data. Accelerometer data is used to detect step events. Compass and gyroscope are used for heading estimation. Drift compensation and step length estimation is performed by a particle filter using map information...
This paper focuses on WiFi indoor positioning based on received signal strength, a common local positioning approach with a number of prominent advantages such as low cost and ease of deployment. Weighted k nearest neighbor (WKNN) approach and Naive Bayes Classifier (NBC) method are two classic position estimation strategies for location determination using WiFi fingerprinting. Both of them need to...
Sensor Fusion (SF) combining accelerometer and gyroscope readings with position sensor (Wi-Fi, GPS) information is the way for increasing indoor positioning precision, mostly during intervals between subsequent callbacks from position sensor. Existing algorithms demonstrate the accuracy acceptable for the users. However customers often require the ALWAYS ON solution implemented on mobile platform...
This paper describes the development of a multifloor hybrid inertial/barometric navigation system. The prototype integrates several Magnetic Angular Rate and Gyroscope (MARG) sensors and a barometer. The inertial (MARG) sub-system, by properly processing the signals collected by the MARG sensors placed on the test subject's feet, reconstructs the two-dimensional navigation pattern by applying a Zero...
Traditionally, optical positioning has been an area that attracted significant interest for specialised applications such as robotic navigation. With the recent development and integration of cameras in mobile devices, optical positioning is gaining further interest in indoor positioning applications targeting human navigation. Furthermore, the release of the Google Tango platform has attracted the...
This paper studies the attitude and position estimation problem of a rigid body equipped with inertial and magnetic sensors. First a continuous-time model is provided linking the motion of the body and sensor measurements, which depend on the total magnetic field and measurement noise. The magnetic field may depend both on the space variable (since the indoor navigation is considered) and on the time...
Smartphone based personal tracking is very important for people to find their destination in large complex buildings (e.g. shopping malls, airports and museums). Such applications are highly demanded in both industries and research organizations. One critical issue for these applications is lack of mature technologies for highly accurate indoor location tracking. In this paper, a new Wi-Fi and magnetic...
Methods to cluster fingerprints based on Smallest-Enclosing-Circle (SEC) and to modify Weighted-K-Nearest-Neighbor (WKNN) matching algorithm for indoor fingerprint positioning system are proposed. Based on the approach to computing the smallest k-enclosing circle, the method proposed clusters fingerprints in database by introducing reference points' coordinates, instead of their received signal strength...
In the field of indoor navigation, inertial measurement units (IMUs) are commonly used to track pedestrians. Unfortunately, in conjunction with dead reckoning localization approaches, the position accuracy is degraded by the accumulation of sensor errors. Most pedestrian dead reckoning systems are therefore adapted to human gait patterns to constraint this error growth. These interventions however...
This paper demonstrates a novel approach for motion classification and analysis using pressure sensors worn by a person. The pressure signal is analysed to search for features corresponding to the motion states, and matched against typical human walking pattern. A prototype system is developed which provides motion classification results in real-time. The motion classification results consists of...
The reliability of an indoor localization system is often limited by the capability of the systems of distinguishing the line-of-sight signals in environments with multipath. Besides, estimating the height of the target can be challenging due to dilution of precision (DOP) and non line of sight (NLOS) situations. However, the reflections can be used to infer information about the scenario. We present...
These days, smart home applications such as a concierge service for residents, home appliance control and so on are attracting attention. In order to realize these applications, we strongly believe that we need an indoor positioning system which fulfills the following requirements: Req 1: high accuracy; Req 2: low installation cost; Req 3: small burden on the user; Req 4: low privacy invasion. There...
A common problem for indoor positioning methods is the fact that the differences in the reception characteristics among devices may significantly deteriorate the performance of a positioning system. Ranging algorithms for positioning rely on the accuracy of the parameters of the propagation model. This model is used to infer an estimate of the distance of a mobile device from each access point from...
The concept of indoor location positioning has been around for decades now. Despite the existence of many algorithms that can achieve location positioning with remarkable performance in terms of accuracy, implementation of such algorithms has not been done on a large scale. There is a trade-off between the positioning accuracy and the complexity of the algorithm. This paper introduces and explains...
Angle of arrival localization systems generally rely on multiple antenna arrays, estimating the position of a mobile node by measuring the line-of-sight directions. However, indoor multipath effects tend to deteriorate system performance. In this paper, an alternative system for in-room positioning is proposed and tested, consisting of a mobile transmitter and a single antenna array for angle of arrival...
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