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TitleLocalization system for pedestrians based on sensor and information fusion
Author(s)Anacleto, Ricardo
Figueiredo, Lino
Almeida, Ana
Novais, Paulo
KeywordsPedestrian Inertial Navigation System
Indoor location
Force sensors
Sensor fusion
Information fusion
Issue date2014
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.
TypeConference paper
Publisher version
AccessOpen access
Appears in Collections:CCTC - Artigos em atas de conferências internacionais (texto completo)

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