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Fusing the information from two navigation systems using an upper bound on their maximum spatial separation
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-3054-6413
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-2718-0262
2012 (English)In: 2012 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2012 - Conference Proceedings, IEEE , 2012, 6418862- p.Conference paper, Published paper (Refereed)
Abstract [en]

A method is proposed to fuse the information from two navigation systems whose relative position is unknown, but where there exists an upper limit on how far apart the two systems can be. The proposed information fusion method is applied to a scenario in which a pedestrian is equipped with two foot-mounted zero-velocity-aided inertial navigation systems; one system on each foot. The performance of the method is studied using experimental data. The results show that the method has the capability to significantly improve the navigation performance when compared to using two uncoupled foot-mounted systems.

Place, publisher, year, edition, pages
IEEE , 2012. 6418862- p.
Series
International Conference on Indoor Positioning and Indoor Navigation, ISSN 2162-7347
Keyword [en]
Constraints, Inertial navigation, Pedestrian navigation, Zero-velocity detection
National Category
Signal Processing
Identifiers
URN: urn:nbn:se:kth:diva-107445DOI: 10.1109/IPIN.2012.6418862ISI: 000317060600014Scopus ID: 2-s2.0-84874246206ISBN: 978-146731954-6 (print)OAI: oai:DiVA.org:kth-107445DiVA: diva2:575952
Conference
2012 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2012; Sydney, NSW; 13 November 2012 through 15 November 2012
Funder
VinnovaICT - The Next Generation
Note

QC 20121221

Available from: 2012-12-21 Created: 2012-12-11 Last updated: 2013-05-23Bibliographically approved

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Skog, IsaacHändel, Peter

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