Energy efficient indoor localization utilizing BT 4.0 strapdown inertial navigation system

Abstract

In the age of automation the need for indoor navigation has become quite important for a rising number of applications. In this work a strapdown INS (SINS) in terms of Inertial Navigation System is discussed. INS is an electronic device, containing an Inertial Measurement Unit (IMU), implementing a Dead Reckoning (DR) algorithm. This algorithm estimates position, velocity and orientation utilizing readings from motion sensors. The logic behind DR algorithm is to continually adding detected changes from the sensors to its previously calculated results. This is the main reason why INS is limited to measure relative position and orientation. Thus the accuracy of the propagated position depends heavily on the quality of the initial conditions. In addition, if absolute position or orientation updates are obtained by another sensor source at a high rate, the INS can be used to deliver high precision positions. In this paper, an INS fused with the new Bluetooth v4.0 technology is described.