A particle filter approach to indoor navigation using a foot mounted inertial navigation system and heuristic heading information

2012 ◽  
Author(s):  
James Pinchin ◽  
Chris Hide ◽  
Terry Moore
Keyword(s):  
Particle Filter ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Indoor Navigation ◽  
Filter Approach

scholarly journals An Indoor Navigation Algorithm Using Multi-Dimensional Euclidean Distance and an Adaptive Particle Filter

Sensors ◽  
2021 ◽  
Vol 21 (24) ◽  
pp. 8228
Author(s):  
Yunbing Hu ◽  
Ao Peng ◽  
Biyu Tang ◽  
Hongying Xu
Keyword(s):  
Particle Filter ◽  
Navigation System ◽  
Euclidean Distance ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Indoor Navigation ◽  
Fingerprint Matching ◽  
Positioning Accuracy ◽  
Cumulative Error ◽  
Wifi Fingerprint

The inertial navigation system has high short-term positioning accuracy but features cumulative error. Although no cumulative error occurs in WiFi fingerprint localization, mismatching is common. A popular technique thus involves integrating an inertial navigation system with WiFi fingerprint matching. The particle filter uses dead reckoning as the state transfer equation and the difference between inertial navigation and WiFi fingerprint matching as the observation equation. Floor map information is introduced to detect whether particles cross the wall; if so, the weight is set to zero. For particles that do not cross the wall, considering the distance between current and historical particles, an adaptive particle filter is proposed. The adaptive factor increases the weight of highly trusted particles and reduces the weight of less trusted particles. This paper also proposes a multidimensional Euclidean distance algorithm to reduce WiFi fingerprint mismatching. Experimental results indicate that the proposed algorithm achieves high positioning accuracy.

scholarly journals Intelligent Banal type INS based Wassily chair (INSW)

2012 ◽  
Vol 1 (01) ◽  
pp. 01-08
Author(s):  
Mr. Dharmesh Dhabliya
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Indoor Navigation ◽  
Gear System ◽  
Intelligent Vehicle ◽  
Wheel Chair ◽  
User Friendly

The navigation of physically impaired requires a continuous positioning with certain accuracy in their environments. This paper proposes an automated wheel chair developed for the indoor navigation using Inertial Navigation System (INS) for the physically blight persons. The Wassily chairs are the mobile chairs that facilitate the movement of the user in pre-functioned places. This is an intelligent vehicle which has all the feasibility for the usage of the physically impaired. This mobile chair replaces the traditional gear system with the keypad system to reach the destined places and to locate the things in the destined places. This makes the vehicle smart and user-friendly augmenting the viability to carry out their day to day activities.  It has an additional feature, the automatic airbag system which provides hip bone protections.

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