Indoor positioning using multi-frequency RSS with foot-mounted INS
2014 (English)In: IPIN 2014 - 2014 International Conference on Indoor Positioning and Indoor Navigation, IEEE conference proceedings, 2014, 177-186 p.Conference paper (Refereed)Text
This paper presents a system which combines a zero-velocity-update-(ZUPT-)aided inertial navigation system (INS), using a foot-mounted inertial measurement unit (IMU), with opportunistic use of multi-frequency received signal strength (RSS) measurements. The system does not rely on maps or pre-collected data from surveys of the radio-frequency (RF) environment. Instead it builds its own database of collected RSS measurements during the course of the operation. New RSS measurements are continuously compared with the stored values in the database, and when the user returns to a previously visited area this can thus be detected. This enables loop-closures to be detected online and used for error drift correction. The system utilises a distributed particle simultaneous localization and mapping (DP-SLAM) algorithm which provides a flexible 2D navigation platform that can be extended with more sensors. The experimental results presented in this paper indicates that the developed RSS SLAM algorithm can, in many cases, significantly improve the positioning performance of a foot-mounted INS.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2014. 177-186 p.
Air navigation, Dynamic positioning, Inertial navigation systems, Navigation systems, Robotics, RSS, Units of measurement, Aided inertial navigation, Distributed particles, Inertial measurement unit, Positioning performance, Radio frequency environments, Received signal strength, Simultaneous localization and mapping, Zero velocity update (ZUPT), Indoor positioning systems
IdentifiersURN: urn:nbn:se:kth:diva-181655DOI: 10.1109/IPIN.2014.7275482ScopusID: 2-s2.0-84947937723ISBN: 9781467380546OAI: oai:DiVA.org:kth-181655DiVA: diva2:912398
5th International Conference on Indoor Positioning and Indoor Navigation, IPIN 2014, 27 October 2014 through 30 October 2014
QC 201603162016-03-162016-02-022016-03-16Bibliographically approved