Open AccessIndoor Navigation Using Particle Filter and Sensor Fusion
Author(s) -
Lukas Köping,
Thomas Mühsam,
Christian Ofenberg,
Bernhard Czech,
Michael E. Bernard,
Jens Schmer,
Frank Deinzer
Publication year - 2012
Publication title -
annual of navigation
Language(s) - English
Resource type - Journals
eISSN - 2300-6633
pISSN - 1640-8632
DOI - 10.2478/v10367-012-0016-6
Subject(s) - compass , particle filter , global positioning system , sensor fusion , computer science , real time computing , filter (signal processing) , acceleration , position (finance) , gnss applications , navigation system , track (disk drive) , computer vision , geography , telecommunications , physics , cartography , classical mechanics , finance , economics , operating system
In this paper we present an indoor localization system based on particle filter and multiple sensor data like acceleration, angular velocity and compass data. With this approach we tackle the problem of documentation on large building yards during the construction phase. Due to the circumstances of such an environment we cannot rely on any data from GPS, Wi-Fi or RFID. Moreover this work should serve us as a first step towards an all-in-one navigation system for mobile devices. Our experimental results show that we can achieve high accuracy in position estimation.