Pub Date : 2014-05-05DOI: 10.1109/PLANS.2014.6851426
E. Emilsson, J. Rydell
In this paper we present a system for positioning and mapping, primarily for use in smoke diver applications. The system is based on a stereo pair of thermal infrared cameras and is shown to produce trajectory and mapping estimates while used in environments with sufficient thermal contrast. The system is evaluated in, e.g., a test facility for smoke divers, with good results.
{"title":"Chameleon on fire — Thermal infrared indoor positioning","authors":"E. Emilsson, J. Rydell","doi":"10.1109/PLANS.2014.6851426","DOIUrl":"https://doi.org/10.1109/PLANS.2014.6851426","url":null,"abstract":"In this paper we present a system for positioning and mapping, primarily for use in smoke diver applications. The system is based on a stereo pair of thermal infrared cameras and is shown to produce trajectory and mapping estimates while used in environments with sufficient thermal contrast. The system is evaluated in, e.g., a test facility for smoke divers, with good results.","PeriodicalId":371808,"journal":{"name":"2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124806451","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-05-05DOI: 10.1109/PLANS.2014.6851466
Z. Berman
A standard outlier-rejection scheme applied in Kalman filtering, based on the acceptance/rejection gate for measurement innovation, is discussed in this paper. The main idea behind this approach is based on assumptions that measurements can be "normal", as described in the measurement model and "abnormal" outliers that are generated by a totally different model. The goal of the acceptance/rejection gate is to accept normal measurements and reject abnormal ones. A concrete and simple case of range estimation in the presence of multipath outliers is thoroughly analyzed. The results are both nontrivial (even surprising) and important for designers of such rejection schemes who may use them as guidance for efficient design. The first observation is that the outlier-rejection scheme may provide worse results than the scheme with no rejection at all. This is because there is a positive, albeit relatively low probability that the system will enter and remain in a mode in which outliers are accepted and normal measurements are rejected. In this case, the estimation errors become very big and have a significant influence on the total standard deviations (even if their probability of occurrence is low). The main and very important conclusion is that outlier-rejection schemes cannot be applied without a proper recovery scheme that prevents the system from remaining "stuck" in normal-measurement rejection mode. In this paper, three different recovery schemes are proposed: a one-sided rejection scheme (only applicable to multipath-type outliers); a Kalman-filter reset scheme; a set of parallel Kalman filters, where the output is provided by the filter with minimal innovation size. The design and performance analysis of each recovery scheme are described. The conclusion is that the performance of the recovery schemes is very close to the case without any outliers at all, up to very high (0.45) multipath-occurrence probability.
{"title":"Outliers rejection in Kalman filtering — Some new observations","authors":"Z. Berman","doi":"10.1109/PLANS.2014.6851466","DOIUrl":"https://doi.org/10.1109/PLANS.2014.6851466","url":null,"abstract":"A standard outlier-rejection scheme applied in Kalman filtering, based on the acceptance/rejection gate for measurement innovation, is discussed in this paper. The main idea behind this approach is based on assumptions that measurements can be \"normal\", as described in the measurement model and \"abnormal\" outliers that are generated by a totally different model. The goal of the acceptance/rejection gate is to accept normal measurements and reject abnormal ones. A concrete and simple case of range estimation in the presence of multipath outliers is thoroughly analyzed. The results are both nontrivial (even surprising) and important for designers of such rejection schemes who may use them as guidance for efficient design. The first observation is that the outlier-rejection scheme may provide worse results than the scheme with no rejection at all. This is because there is a positive, albeit relatively low probability that the system will enter and remain in a mode in which outliers are accepted and normal measurements are rejected. In this case, the estimation errors become very big and have a significant influence on the total standard deviations (even if their probability of occurrence is low). The main and very important conclusion is that outlier-rejection schemes cannot be applied without a proper recovery scheme that prevents the system from remaining \"stuck\" in normal-measurement rejection mode. In this paper, three different recovery schemes are proposed: a one-sided rejection scheme (only applicable to multipath-type outliers); a Kalman-filter reset scheme; a set of parallel Kalman filters, where the output is provided by the filter with minimal innovation size. The design and performance analysis of each recovery scheme are described. The conclusion is that the performance of the recovery schemes is very close to the case without any outliers at all, up to very high (0.45) multipath-occurrence probability.","PeriodicalId":371808,"journal":{"name":"2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123286294","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-05-05DOI: 10.1109/PLANS.2014.6851367
A. Sarma
The goal of this work is two-fold: (1) arrive at an elegant scheme to study the effect of device bias on the position solution of a general Inertial Navigation System (INS) system; and (2) develop a simple integration method to robustly debias and efficiently estimate true position using potentially biased INS outputs and all other available external measurements. A characteristic set of possible bias trajectories is generated via a novel backward-forward solution approach. These trajectories are continuous functions and are forced to reliably reflect the effects of nominal platform trajectory. They are ultimately utilized to determine the maximum time beyond which approximation of such time-varying bias trajectories with simple piecewise polynomial curves is unrealistic. The times are then used to arrive at an estimation technique that best uses potentially biased INS outputs along with other non-inertial navigation measurements, such as SLAM-based and map-matching-based estimates, to yield minimum mean-squared error unbiased estimates of the time-varying location of the platform as well as simultaneously debias the INS solution. Theoretical arguments and real-data results are provided to reveal the potential of the approach. An Unmanned Undersea Vehicle (UUV) with on-board sonars and an INS suite is the platform for this work.
{"title":"Mathematical modeling of INS error dynamics for integration/debiasing","authors":"A. Sarma","doi":"10.1109/PLANS.2014.6851367","DOIUrl":"https://doi.org/10.1109/PLANS.2014.6851367","url":null,"abstract":"The goal of this work is two-fold: (1) arrive at an elegant scheme to study the effect of device bias on the position solution of a general Inertial Navigation System (INS) system; and (2) develop a simple integration method to robustly debias and efficiently estimate true position using potentially biased INS outputs and all other available external measurements. A characteristic set of possible bias trajectories is generated via a novel backward-forward solution approach. These trajectories are continuous functions and are forced to reliably reflect the effects of nominal platform trajectory. They are ultimately utilized to determine the maximum time beyond which approximation of such time-varying bias trajectories with simple piecewise polynomial curves is unrealistic. The times are then used to arrive at an estimation technique that best uses potentially biased INS outputs along with other non-inertial navigation measurements, such as SLAM-based and map-matching-based estimates, to yield minimum mean-squared error unbiased estimates of the time-varying location of the platform as well as simultaneously debias the INS solution. Theoretical arguments and real-data results are provided to reveal the potential of the approach. An Unmanned Undersea Vehicle (UUV) with on-board sonars and an INS suite is the platform for this work.","PeriodicalId":371808,"journal":{"name":"2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014","volume":"2094 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129903339","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-05-05DOI: 10.1109/PLANS.2014.6851508
Bashir Kazemipur, Z. Syed, J. Georgy, N. El-Sheimy
Today's smartphones are powerful devices whose continually increasing processing power and wide array of sensors make them well suited for use as personal navigation devices. In the absence of information from the Global Navigation Satellite System (GNSS), the onboard inertial sensors can be used to provide a relative navigation solution. However, these onboard inertial sensors suffer from the effects of different sensor errors which cause the inertial-only solution to deteriorate rapidly. As such, there is a need to constrain the inertial positioning solution when long term navigation is needed. GNSS positions and velocities, and WiFi positions are the most important forms of updates available for the inertial solution. However, updates from these two sources depend on external signals and may not always be available. A rich source of information about the outside world can be obtained using the device's camera. Nearly all devices have at least one camera which has thus far been largely neglected as a navigation aid for these mobile devices. There are many indoor scenarios that require accurate height estimates. Traditionally, barometers have been used to provide height information. However, not all mobile devices that are equipped with inertial sensors are also equipped with a barometer. As nearly all devices are equipped with at least one camera, it is our aim to use information from the camera to aid the inertial-only solution with appropriate height estimates. Different pattern analysis techniques are used to identify the different scenarios. The results are presented for the following common use cases: (1) single floor texting mode, (2) stairs texting mode, (3) single floor calling mode, (4) stairs calling mode, and (5) fidgeting the phone while standing still on a single floor (i.e. “fidgeting”). For each of these use cases, first the context will be determined and then the relevant information will be used to calculate the height accordingly. This work is patent pending.
{"title":"Vision-based context and height estimation for 3D indoor location","authors":"Bashir Kazemipur, Z. Syed, J. Georgy, N. El-Sheimy","doi":"10.1109/PLANS.2014.6851508","DOIUrl":"https://doi.org/10.1109/PLANS.2014.6851508","url":null,"abstract":"Today's smartphones are powerful devices whose continually increasing processing power and wide array of sensors make them well suited for use as personal navigation devices. In the absence of information from the Global Navigation Satellite System (GNSS), the onboard inertial sensors can be used to provide a relative navigation solution. However, these onboard inertial sensors suffer from the effects of different sensor errors which cause the inertial-only solution to deteriorate rapidly. As such, there is a need to constrain the inertial positioning solution when long term navigation is needed. GNSS positions and velocities, and WiFi positions are the most important forms of updates available for the inertial solution. However, updates from these two sources depend on external signals and may not always be available. A rich source of information about the outside world can be obtained using the device's camera. Nearly all devices have at least one camera which has thus far been largely neglected as a navigation aid for these mobile devices. There are many indoor scenarios that require accurate height estimates. Traditionally, barometers have been used to provide height information. However, not all mobile devices that are equipped with inertial sensors are also equipped with a barometer. As nearly all devices are equipped with at least one camera, it is our aim to use information from the camera to aid the inertial-only solution with appropriate height estimates. Different pattern analysis techniques are used to identify the different scenarios. The results are presented for the following common use cases: (1) single floor texting mode, (2) stairs texting mode, (3) single floor calling mode, (4) stairs calling mode, and (5) fidgeting the phone while standing still on a single floor (i.e. “fidgeting”). For each of these use cases, first the context will be determined and then the relevant information will be used to calculate the height accordingly. This work is patent pending.","PeriodicalId":371808,"journal":{"name":"2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125548104","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-05-05DOI: 10.1109/PLANS.2014.6851446
Binhee Kim, S. Kong
Long spreading code and CBOC (composite Binary offset carrier) modulated signals are exploited in the next-generation GNSS (global navigation satellite system) to improve the positioning performance. However, the acquisition process in a GNSS receiver can take more time than it does in a legacy GPS receiver due to the longer spreading code. This paper presents a CBOC TDCC (two-dimensional compressed correlator) for the fast acquisition of CBOC-modulated signals in Galileo E1. In TDCC for CBOC modulated signals, the signal power in the neighboring code phase and Doppler frequency hypotheses are coherently combined and tested to reduce the acquisition time in the first stage. In addition, the individual code phase and Doppler frequency hypotheses corresponding to the compressed hypotheses found in the first stage are searched in the second stage. The proposed CBOC TDCC outperforms the conventional acquisition technique in terms of the MAT (mean acquisition time).
{"title":"Two-dimensional compressed correlator for fast acquisition of CBOC-modulated signal in GNSS","authors":"Binhee Kim, S. Kong","doi":"10.1109/PLANS.2014.6851446","DOIUrl":"https://doi.org/10.1109/PLANS.2014.6851446","url":null,"abstract":"Long spreading code and CBOC (composite Binary offset carrier) modulated signals are exploited in the next-generation GNSS (global navigation satellite system) to improve the positioning performance. However, the acquisition process in a GNSS receiver can take more time than it does in a legacy GPS receiver due to the longer spreading code. This paper presents a CBOC TDCC (two-dimensional compressed correlator) for the fast acquisition of CBOC-modulated signals in Galileo E1. In TDCC for CBOC modulated signals, the signal power in the neighboring code phase and Doppler frequency hypotheses are coherently combined and tested to reduce the acquisition time in the first stage. In addition, the individual code phase and Doppler frequency hypotheses corresponding to the compressed hypotheses found in the first stage are searched in the second stage. The proposed CBOC TDCC outperforms the conventional acquisition technique in terms of the MAT (mean acquisition time).","PeriodicalId":371808,"journal":{"name":"2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124642833","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-05-05DOI: 10.1109/PLANS.2014.6851380
Chaojun Liu, Shuai Yu, Shengzhi Zhang, Xuebing Yuan, Sheng Liu
This study reports a gyro-free inertial measurement unit (IMU) using solely four triaxial accelerometers. System equations and a configuration which is feasible for the gyro-free IMU design are presented. The propagation of accelerometer measurement errors is analyzed. An unscented Kalman filter (UKF) is proposed for state estimation. Simulation results show that the system state is robustly estimated by the proposed UKF. Furthermore, compared with the results of error analysis, the UKF provides effective error reductions on state estimation. The error of angular velocity estimation over full scale (FS) is about ±0.4%FS.
{"title":"An effective unscented Kalman filter for state estimation of a gyro-free inertial measurement unit","authors":"Chaojun Liu, Shuai Yu, Shengzhi Zhang, Xuebing Yuan, Sheng Liu","doi":"10.1109/PLANS.2014.6851380","DOIUrl":"https://doi.org/10.1109/PLANS.2014.6851380","url":null,"abstract":"This study reports a gyro-free inertial measurement unit (IMU) using solely four triaxial accelerometers. System equations and a configuration which is feasible for the gyro-free IMU design are presented. The propagation of accelerometer measurement errors is analyzed. An unscented Kalman filter (UKF) is proposed for state estimation. Simulation results show that the system state is robustly estimated by the proposed UKF. Furthermore, compared with the results of error analysis, the UKF provides effective error reductions on state estimation. The error of angular velocity estimation over full scale (FS) is about ±0.4%FS.","PeriodicalId":371808,"journal":{"name":"2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014","volume":"57 1464 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126058311","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-05-05DOI: 10.1109/PLANS.2014.6851474
Qiwei Han, Jing Pang, Junwei Nie, Feixue Wang
The traditional view is that different types of interference (or the same type interference generated in different ways) have no effect on the anti-interference performance of GNSS adaptive antenna array. However, in the actual course of the study, it is found that the interference suppression performance of the adaptive array antenna differs for different types of interference. The difference is not obvious when the interference intensity is at low level, but become relatively significant when the interference power becomes larger. There are two types of typical wideband interference in GNSS system: matching spectrum wideband interference and White Gaussian Noise (WGN) wideband interference. In array receiver simulations, the array signal generation methods of these two kinds of interference are different, which was analyzed elaborately in this paper. Signal to aliasing noise ratio (SNRa) of the two types of typical wideband interference was analyzed. It was demonstrated in this paper that SNRa difference is the main reason that causes interference suppression performance difference of two kinds of interference in the same array receiver. Simulation of array transfer function of wideband model verified the theoretical analysis.
{"title":"Influence of interference type upon adaptive GNSS antenna array performance","authors":"Qiwei Han, Jing Pang, Junwei Nie, Feixue Wang","doi":"10.1109/PLANS.2014.6851474","DOIUrl":"https://doi.org/10.1109/PLANS.2014.6851474","url":null,"abstract":"The traditional view is that different types of interference (or the same type interference generated in different ways) have no effect on the anti-interference performance of GNSS adaptive antenna array. However, in the actual course of the study, it is found that the interference suppression performance of the adaptive array antenna differs for different types of interference. The difference is not obvious when the interference intensity is at low level, but become relatively significant when the interference power becomes larger. There are two types of typical wideband interference in GNSS system: matching spectrum wideband interference and White Gaussian Noise (WGN) wideband interference. In array receiver simulations, the array signal generation methods of these two kinds of interference are different, which was analyzed elaborately in this paper. Signal to aliasing noise ratio (SNRa) of the two types of typical wideband interference was analyzed. It was demonstrated in this paper that SNRa difference is the main reason that causes interference suppression performance difference of two kinds of interference in the same array receiver. Simulation of array transfer function of wideband model verified the theoretical analysis.","PeriodicalId":371808,"journal":{"name":"2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132217220","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-05-05DOI: 10.1109/PLANS.2014.6851427
Valérie Renaudin, Christophe Combettes, F. Peyret
Pedestrian Dead-Reckoning (PDR) is the prime candidate for autonomous navigation with self-contained sensors. Nevertheless with noisy sensor signals and high hand dynamics, estimating accurate attitude angles remains a challenge for achieving long term positioning accuracy. A new attitude estimation algorithm based on a quaternion parameterization directly in the state vector and two opportunistic updates, i.e. magnetic angular rate update and acceleration gradient update, is proposed. The benefit of this method is assessed both at the theoretical level and at the experimental level. The error on the heading, estimated only with the PDR navigation algorithms, is found to less than 7° after 1 km of walk.
{"title":"Quaternion based heading estimation with handheld MEMS in indoor environments","authors":"Valérie Renaudin, Christophe Combettes, F. Peyret","doi":"10.1109/PLANS.2014.6851427","DOIUrl":"https://doi.org/10.1109/PLANS.2014.6851427","url":null,"abstract":"Pedestrian Dead-Reckoning (PDR) is the prime candidate for autonomous navigation with self-contained sensors. Nevertheless with noisy sensor signals and high hand dynamics, estimating accurate attitude angles remains a challenge for achieving long term positioning accuracy. A new attitude estimation algorithm based on a quaternion parameterization directly in the state vector and two opportunistic updates, i.e. magnetic angular rate update and acceleration gradient update, is proposed. The benefit of this method is assessed both at the theoretical level and at the experimental level. The error on the heading, estimated only with the PDR navigation algorithms, is found to less than 7° after 1 km of walk.","PeriodicalId":371808,"journal":{"name":"2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014","volume":"22 23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134425115","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-05-05DOI: 10.1109/PLANS.2014.6851513
F. Sun, Jianzhong Xia, Yueyang Ben, Haiyu Lan
Gyrocompass alignment algorithm is a fine alignment technique based on gyrocompass effect and loop feedback control theory. Conventional strapdown gyrocompass alignment methods are based on the assumption that the system has a small heading misalignment angle. However, a large heading misalignment angle would exist during the alignment duration under some conditions, especially for marine strapdown inertial navigation system (SINS). This paper proposed a time-varying parameters based gyrocompass alignment method to solve this problem. Error model of gyrocompass alignment with large heading misalignment error is presented and an appropriate multi-parameter setting is given, a proper scenario for parametric switch is also derived. Simulation and experimental results show that the proposed method has better alignment performance than conventional ones when the system has a large heading misalignment angle.
{"title":"Time-varying parameters based gyrocompass Alignment for marine SINS with large heading misalignment","authors":"F. Sun, Jianzhong Xia, Yueyang Ben, Haiyu Lan","doi":"10.1109/PLANS.2014.6851513","DOIUrl":"https://doi.org/10.1109/PLANS.2014.6851513","url":null,"abstract":"Gyrocompass alignment algorithm is a fine alignment technique based on gyrocompass effect and loop feedback control theory. Conventional strapdown gyrocompass alignment methods are based on the assumption that the system has a small heading misalignment angle. However, a large heading misalignment angle would exist during the alignment duration under some conditions, especially for marine strapdown inertial navigation system (SINS). This paper proposed a time-varying parameters based gyrocompass alignment method to solve this problem. Error model of gyrocompass alignment with large heading misalignment error is presented and an appropriate multi-parameter setting is given, a proper scenario for parametric switch is also derived. Simulation and experimental results show that the proposed method has better alignment performance than conventional ones when the system has a large heading misalignment angle.","PeriodicalId":371808,"journal":{"name":"2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133467153","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-05-05DOI: 10.1109/PLANS.2014.6851372
Andrew Zaydak, William D. Deninger, C. Toth, Dorota Grejner-Brezinsaka
The widespread use of smartphones and other personal devices provides a low cost sensing platform giving easy access to a variety of data. The availability of this rich data provides opportunities to develop new applications for personal use in areas such as health monitoring, situational awareness, and location-awareness. Of these, personal navigation and localization is of rapidly-growing commercial interest. There have been considerable research efforts to improve navigation capabilities using the embedded inertial, optical, and magnetic sensors in personal devices. This spans GPS augmentation, inertial and vision based solutions, map matching, and other sensor fusion approaches. One emerging method is to improve contextual awareness by detecting and classifying relevant human motions. This may be done by building human locomotion models primarily based on inertial and magnetic data. Once reliable models are constructed, they can be calibrated to a motion's magnitude and frequency. The derived information can then be integrated into the navigation solution; improving performance in indoor and other GPS challenged navigation environments. A case application is a human motion aware advanced pedometer. Several methods of dynamically modeling human motions have been proposed in literature. Each method has constraints and often non-obvious drawbacks. This paper first provides a survey of existing methods along with important but often overlooked details. Although the processing power of small personal devices is quickly growing, the computational load for real-time applications is still a constraint. Therefore, an evaluation of these methods based on their computational cost of reliable performance is provided. Finally, a case study with field test results will be presented. Three motions states were chosen for field tests; walking forward, walking backward, and running. Conclusions regarding suitability of personal navigation will be presented.
{"title":"Personal navigation using novel methods of human motion modeling","authors":"Andrew Zaydak, William D. Deninger, C. Toth, Dorota Grejner-Brezinsaka","doi":"10.1109/PLANS.2014.6851372","DOIUrl":"https://doi.org/10.1109/PLANS.2014.6851372","url":null,"abstract":"The widespread use of smartphones and other personal devices provides a low cost sensing platform giving easy access to a variety of data. The availability of this rich data provides opportunities to develop new applications for personal use in areas such as health monitoring, situational awareness, and location-awareness. Of these, personal navigation and localization is of rapidly-growing commercial interest. There have been considerable research efforts to improve navigation capabilities using the embedded inertial, optical, and magnetic sensors in personal devices. This spans GPS augmentation, inertial and vision based solutions, map matching, and other sensor fusion approaches. One emerging method is to improve contextual awareness by detecting and classifying relevant human motions. This may be done by building human locomotion models primarily based on inertial and magnetic data. Once reliable models are constructed, they can be calibrated to a motion's magnitude and frequency. The derived information can then be integrated into the navigation solution; improving performance in indoor and other GPS challenged navigation environments. A case application is a human motion aware advanced pedometer. Several methods of dynamically modeling human motions have been proposed in literature. Each method has constraints and often non-obvious drawbacks. This paper first provides a survey of existing methods along with important but often overlooked details. Although the processing power of small personal devices is quickly growing, the computational load for real-time applications is still a constraint. Therefore, an evaluation of these methods based on their computational cost of reliable performance is provided. Finally, a case study with field test results will be presented. Three motions states were chosen for field tests; walking forward, walking backward, and running. Conclusions regarding suitability of personal navigation will be presented.","PeriodicalId":371808,"journal":{"name":"2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133060617","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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