Integration of GNSS-receivers with dual foot-mounted INS in urban and indoor environments
2016 (English)In: Proceedings of the IEEE/ION Position, Location and Navigation Symposium, PLANS 2016, Institute of Electrical and Electronics Engineers (IEEE), 2016, 589-598 p.Conference paper (Refereed)
In safety-critical applications, including firefighter and law enforcement operations, infrastructure-free localization systems are typically required. These systems must provide accurate localization in all scenarios. Seamless indoor and outdoor localization and navigation, including in dense urban environments, are needed. Multi-sensor fusion algorithms constitute an integral part in all state-of-the-art indoor positioning systems. GNSS-receivers typically provide poor estimates of their own position uncertainty in dense urban and indoor environments, where significant position errors can be expected, which makes the design of a robust sensor fusion algorithm a challenge. Sensor fusion strategies for integration of a GNSS-receiver with foot-mounted inertial navigation systems (INS) are described and evaluated in this work. For a loosely coupled integration strategy, we suggest to use a cut-off criteria that governs when to discard the GNSS-positions and demonstrate that it can improve the position and heading accuracy in outdoor/indoor transition regions. Similarly, for a tightly coupled integration strategy, we suggest an approach with heavy-tailed measurement noise and demonstrate its capability to suppress inconsistent data and improve performance in the same regions.
Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2016. 589-598 p.
Foot-mounted INS, GNSS, Infrastructure-free localization, outdoor-indoor transitions, Sensor fusion
IdentifiersURN: urn:nbn:se:kth:diva-194575DOI: 10.1109/PLANS.2016.7479750ScopusID: 2-s2.0-84978524984ISBN: 978-150902042-3OAI: oai:DiVA.org:kth-194575DiVA: diva2:1042008
IEEE/ION Position, Location and Navigation Symposium, PLANS 2016, Hyatt Regency Savannah, Georgia, 11 April 2016 through 14 April 2016
QC 201610312016-10-312016-10-312016-10-31Bibliographically approved