Indoor/Outdoor Pedestrian Navigation with an Embedded GPS/RFID/Self-contained Sensor System
This paper describes an embedded pedestrian navigation system composed of a self-contained sensors, the Global Positioning System (GPS) and an active Radio Frequency Identification (RFID) tag system. We use self-contained sensors (accelerometers, gyrosensors and magnetometers) to estimate relative displacement by analyzing human walking locomotion. The GPS is used outdoors to adjust errors in position and direction accumulated by the dead-reckoning. In indoor environments, we use an active RFID tag system sparsely placed in key spot areas. The tag system obviously has limited availability and thus dead-reckoning is used to cover the environment. We propose a method of complementary compensation algorithm for the GPS/RFID localization and the self-contained navigation represented by simple equations in a Kalman filter framework. Experimental results using the proposed method reveals that integration of GPS/RFID/dead-reckoning improve positioning accuracy in both indoor and outdoor environments. The pedestrian positioning is realized as a software module with the web-based APIs so that cross-platform development can easily be achieved. A pedestrian navigation system is implemented on an embedded wearable system and is proven to be useful even for unexperienced users.
KeywordsGlobal Position System Global Position System Data Error Covariance Matrix Global Position System Signal Global Position System Position
Unable to display preview. Download preview PDF.
- 1.Kourogi, M., Kurata, T.: Personal positioning based on walking locomotion analysis with self-contained sensors and a wearable camera. In: Proc. of ISMAR 2003, pp. 103–112 (2003)Google Scholar
- 2.Kourogi, M., Kurata, T.: A method of personal positioning based on sensor data fusion of wearable camera and self-contained sensors. In: Proc. IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2003), pp. 287–292 (2003)Google Scholar
- 3.Ladetto, Q., et al.: Two Different Approaches for Augmented GPS Pedestrian Navigation. In: LOCELLUS 2001 (2001)Google Scholar
- 4.Schwartz, T., Brandherm, B., Heckmann, D.: Calculation of the User-Direction in an Always Best Positioned Mobile Localization System. In: Proc. AIMS 2005 (2005)Google Scholar
- 6.Parkinson, B.W., Spilker, J.J.: Global Positioning System: Theory and Applications. American Institute of Aeronautics and Astronautics, Inc. (1996)Google Scholar