Implement of cooperative navigation in pedestrian navigation based on distance restraint

2016 ◽  
Author(s):  
Chen Ze ◽  
Mu Hua ◽  
Chen Chang-hao ◽  
Wu Mei-ping
Keyword(s):  
Distance Restraint ◽  
Pedestrian Navigation ◽  
Cooperative Navigation

METHOD SUGGESTING CITY WALKING ROUTES FOR PEDESTRIANS USING AN EXAMPLE OF SAINT-PETERSBURG

2019 ◽  
pp. 71-76
Author(s):  
A.E. Semenov
Keyword(s):  
Random Forest ◽  
Develop Model ◽  
Random Forest Algorithm ◽  
Saint Petersburg ◽  
Pedestrian Navigation ◽  
Factors Influencing ◽  
The City

The method of pedestrian navigation in the cities illustrated by the example of Saint-Petersburg was investigated. The factors influencing people when they choose a route for their walk were determined. Based on acquired factors corresponding data was collected and used to develop model determining attractiveness of a street in the city using Random Forest algorithm. The results obtained shows that routes provided by the method are 14% more attractive and just 6% longer compared with the shortest ones.

scholarly journals Displacement Estimation Based on Optical and Inertial Sensor Fusion

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1390
Author(s):  
Tomasz Ursel ◽  
Michał Olinski
Keyword(s):  
Sensor Fusion ◽  
Inertial Sensor ◽  
External Disturbance ◽  
Linear Displacement ◽  
Measuring System ◽  
Displacement Estimation ◽  
Mems Accelerometer ◽  
Pedestrian Navigation ◽  
Complementary Filter ◽  
Optical Flow Sensor

This article aims to develop a system capable of estimating the displacement of a moving object with the usage of a relatively cheap and easy to apply sensors. There is a growing need for such systems, not only for robots, but also, for instance, pedestrian navigation. In this paper, the theory for this idea, including data postprocessing algorithms for a MEMS accelerometer and an optical flow sensor (OFS), as well as the developed complementary filter applied for sensor fusion, are presented. In addition, a vital part of the accelerometer’s algorithm, the zero velocity states detection, is implemented. It is based on analysis of the acceleration’s signal and further application of acceleration symmetrization, greatly improving the obtained displacement. A test stand with a linear guide and motor enabling imposing a specified linear motion is built. The results of both sensors’ testing suggest that the displacement estimated by each of them is highly correct. Fusion of the sensors’ data gives even better outcomes, especially in cases with external disturbance of OFS. The comparative evaluation of estimated linear displacements, in each case related to encoder data, confirms the algorithms’ operation correctness and proves the chosen sensors’ usefulness in the development of a linear displacement measuring system.

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