Localization system for pedestrians based on sensor and information fusion

Anacleto, Ricardo; Figueiredo, Lino; Almeida, Ana; Novais, Paulo

http://hdl.handle.net/10400.22/5865

Use this identifier to reference this record.

Name:	Description:	Size:	Format:
COM_RAnacleto_2014_GECAD.pdf		1.96 MB	Adobe PDF	Download

Send Feedback

Authors

Abstract(s)

Nowadays there is an increase of location-aware mobile applications. However, these applications only retrieve location with a mobile device's GPS chip. This means that in indoor or in more dense environments these applications don't work properly. To provide location information everywhere a pedestrian Inertial Navigation System (INS) is typically used, but these systems can have a large estimation error since, in order to turn the system wearable, they use low-cost and low-power sensors. In this work a pedestrian INS is proposed, where force sensors were included to combine with the accelerometer data in order to have a better detection of the stance phase of the human gait cycle, which leads to improvements in location estimation. Besides sensor fusion an information fusion architecture is proposed, based on the information from GPS and several inertial units placed on the pedestrian body, that will be used to learn the pedestrian gait behavior to correct, in real-time, the inertial sensors errors, thus improving location estimation.

Keywords

Force Sensors GPS Indoor Location Information Fusion Pedestrian Inertial Navigation System Sensor Fusion

URI

http://hdl.handle.net/10400.22/5865

Citation

Anacleto, Ricardo Manuel Soares; Figueiredo, Lino; Almeida, Ana; Novais, Paulo. Localization system for pedestrians based on sensor and information fusion, Trabalho apresentado em 17th International Conference on Information Fusion (FUSION), In 17th International Conference on Information Fusion (FUSION), Salamanca, 2014.