Crowd Sourced Pedestrian Dead Reckoning and Mapping of Indoor Environments using Smartphones

2019 ◽  
Author(s):  
Christian Gentner ◽  
Rostislav Karasek ◽  
Martin Schmidhammer
Keyword(s):  
Dead Reckoning ◽  
Indoor Environments ◽  
Pedestrian Dead Reckoning

scholarly journals A Multi-Floor Indoor Pedestrian Localization Method Using Landmarks Detection for Different Holding Styles

2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
Khanh Nguyen-Huu ◽  
Seon-Woo Lee
Keyword(s):  
Detection Method ◽  
Dead Reckoning ◽  
Superior Performance ◽  
Detection Methods ◽  
Portable Devices ◽  
Indoor Environments ◽  
Fusion Method ◽  
Localization Method ◽  
Pedestrian Dead Reckoning ◽  
Over Time

The pedestrian dead reckoning (PDR) technique is widely used due to its ease of implementation on portable devices such as smartphones. However, the position error that accumulates over time is the main drawback of this technology. In this paper, we propose a fusion method combining a PDR technique and the landmark recognition methods for multi-floor indoor environments using a smartphone in different holding styles. The proposed method attempts to calibrate the position of a pedestrian by detecting whether the pedestrian passes by specific locations called landmarks. Three kinds of landmarks are defined, which are the WiFi, the turning, and the stairs landmarks, and the detection methods for each landmark are proposed. Besides, an adaptive floor detection method using a barometer and a WiFi fingerprinting technique is suggested for tracking a pedestrian in a multi-floor building. The developed system can track the pedestrian holding a smartphone in four styles. The results of the experiment conducted by three subjects changing the holding style in a three-floor building show the superior performance of the proposed method. It reduces the error rate of positioning results to less than 57.51% compared with the improved PDR alone system.

scholarly journals Multimode Pedestrian Dead Reckoning Gait Detection Algorithm Based on Identification of Pedestrian Phone Carrying Position

2019 ◽  
Vol 2019 ◽  
pp. 1-14 ◽  
Author(s):  
Ying Guo ◽  
Qinghua Liu ◽  
Xianlei Ji ◽  
Shengli Wang ◽  
Mingyang Feng ◽  
...  
Keyword(s):  
Inertial Sensors ◽  
Distance Estimation ◽  
Dead Reckoning ◽  
Principal Component ◽  
Detection Algorithm ◽  
Estimation Accuracy ◽  
Indoor Environments ◽  
Using Data ◽  
The Time Domain ◽  
Pedestrian Dead Reckoning

Pedestrian dead reckoning (PDR) is an essential technology for positioning and navigation in complex indoor environments. In the process of PDR positioning and navigation using mobile phones, gait information acquired by inertial sensors under various carrying positions differs from noise contained in the heading information, resulting in excessive gait detection deviation and greatly reducing the positioning accuracy of PDR. Using data from mobile phone accelerometer and gyroscope signals, this paper examined various phone carrying positions and switching positions as the research objective and analysed the time domain characteristics of the three-axis accelerometer and gyroscope signals. A principal component analysis algorithm was used to reduce the dimension of the extracted multidimensional gait feature, and the extracted features were random forest modelled to distinguish the phone carrying positions. The results show that the step detection and distance estimation accuracy in the gait detection process greatly improved after recognition of the phone carrying position, which enhanced the robustness of the PDR algorithm.

scholarly journals An Enhanced Pedestrian Visual-Inertial SLAM System Aided with Vanishing Point in Indoor Environments

Sensors ◽  
2021 ◽  
Vol 21 (22) ◽  
pp. 7428
Author(s):  
Wennan Chai ◽  
Chao Li ◽  
Mingyue Zhang ◽  
Zhen Sun ◽  
Hao Yuan ◽  
...  
Keyword(s):  
Measurement Errors ◽  
Inertial Navigation ◽  
Dead Reckoning ◽  
Optimization Method ◽  
Measurement Unit ◽  
Vanishing Point ◽  
Indoor Environments ◽  
Localization And Mapping ◽  
Loop Detection ◽  
Pedestrian Dead Reckoning

The visual-inertial simultaneous localization and mapping (SLAM) is a feasible indoor positioning system that combines the visual SLAM with inertial navigation. There are accumulated drift errors in inertial navigation due to the state propagation and the bias of the inertial measurement unit (IMU) sensor. The visual-inertial SLAM can correct the drift errors via loop detection and local pose optimization. However, if the trajectory is not a closed loop, the drift error might not be significantly reduced. This paper presents a novel pedestrian dead reckoning (PDR)-aided visual-inertial SLAM, taking advantage of the enhanced vanishing point (VP) observation. The VP is integrated into the visual-inertial SLAM as an external observation without drift error to correct the system drift error. Additionally, the estimated trajectory’s scale is affected by the IMU measurement errors in visual-inertial SLAM. Pedestrian dead reckoning (PDR) velocity is employed to constrain the double integration result of acceleration measurement from the IMU. Furthermore, to enhance the proposed system’s robustness and the positioning accuracy, the local optimization based on the sliding window and the global optimization based on the segmentation window are proposed. A series of experiments are conducted using the public ADVIO dataset and a self-collected dataset to compare the proposed system with the visual-inertial SLAM. Finally, the results demonstrate that the proposed optimization method can effectively correct the accumulated drift error in the proposed visual-inertial SLAM system.

scholarly journals Combining a Modified Particle Filter Method and Indoor Magnetic Fingerprint Map to Assist Pedestrian Dead Reckoning for Indoor Positioning and Navigation

Sensors ◽  
2019 ◽  
Vol 20 (1) ◽  
pp. 185
Author(s):  
Fang-Shii Ning ◽  
Yu-Chun Chen
Keyword(s):  
Magnetic Field ◽  
Particle Filter ◽  
Dead Reckoning ◽  
Step Length ◽  
Indoor Positioning ◽  
Global Navigation Satellite Systems ◽  
Filter Method ◽  
Indoor Environments ◽  
Positioning Accuracy ◽  
Pedestrian Dead Reckoning

Although advancement has been observed in global navigation satellite systems and these systems are widely used, they cannot provide effective navigation and positioning services in covered areas and areas that lack strong signals, such as indoor environments. Therefore, in recent years, indoor positioning technology has become the focus of research and development. The magnetic field of the Earth is quite stable in an open environment. Due to differences in building and internal structures, this type of three-dimensional vector magnetic field is widely available indoors for indoor positioning. A smartphone magnetometer was used in this study to collect magnetic field data for constructing indoor magnetic field maps. Moreover, an acceleration sensor and a gyroscope were used to identify the position of a mobile phone and detect the number of steps travelled by users with the phone. This study designed a procedure for measuring the step length of users. All obtained information was input into a pedestrian dead reckoning (PDR) algorithm for calculating the position of the device. The indoor positioning accuracy of the PDR algorithm was optimised using magnetic gradients of magnetic field maps with a modified particle filter algorithm. Experimental results reveal that the indoor positioning accuracy was between 0.6 and 0.8 m for a testing area that was 85 m long and 33 m wide. This study effectively improved the indoor positioning accuracy and efficiency by using the particle filter method in combination with the PDR algorithm with the magnetic fingerprint map.

scholarly journals An Improved Pedestrian Ttracking Method Based on Wi-Fi Fingerprinting and Pedestrian Dead Reckoning

Sensors ◽  
2020 ◽  
Vol 20 (3) ◽  
pp. 853
Author(s):  
Bo Feng ◽  
Wei Tang ◽  
Guofa Guo ◽  
Xiaohong Jia
Keyword(s):  
Kalman Filter ◽  
Dead Reckoning ◽  
Indoor Environments ◽  
Fingerprint Matching ◽  
Graph Optimization ◽  
Commercial Off The Shelf ◽  
Real Scenario ◽  
Inertial Measurements ◽  
Pedestrian Dead Reckoning ◽  
Better Than

Wi-Fi based positioning has great potential for use in indoor environments because Wi-Fi signals are near-ubiquitous in many indoor environments. With a Reference Fingerprint Map (RFM), fingerprint matching can be adopted for positioning. Much assisting information can be adopted for increasing the accuracy of Wi-Fi based positioning. One of the most adopted pieces of assisting information is the Pedestrian Dead Reckoning (PDR) information derived from inertial measurements. This is widely adopted because the inertial measurements can be acquired through a Commercial Off The Shelf (COTS) smartphone. To integrate the information of Wi-Fi fingerprinting and PDR information, many methods have adopted filters, such as Kalman filters and particle filters. A new methodology for integration of Wi-Fi fingerprinting and PDR is proposed using graph optimization in this paper. For the Wi-Fi based fingerprinting part, our method adopts the state-of-art hierarchical structure and the Penalized Logarithmic Gaussian Distance (PLGD) metric. In the integration part, a simple extended Kalman filter (EKF) is first used for integration of Wi-Fi fingerprinting and PDR results. Then, the tracking results are adopted as initial values for the optimization block, where Wi-Fi fingerprinting and PDR results are adopted to form an concentrated cost function (CCF). The CCF can be minimized with the aim of finding the optimal poses of the user with better tracking results. With both real-scenario experiments and simulations, we show that the proposed method performs better than classical Kalman filter based and particle filter based methods with both less average and maximum positioning error. Additionally, the proposed method is more robust to outliers in both Wi-Fi based and PDR based results, which is commonly seen in practical situations.

scholarly journals IMPROVED INDOOR POSITIONING USING BLE DIFFERENTIAL DISTANCE CORRECTION AND PEDESTRIAN DEAD RECKONING

2020 ◽  
Vol XLIII-B1-2020 ◽  
pp. 193-198
Author(s):  
Y. T. Tang ◽  
Y. T. Kuo ◽  
J. K. Liao ◽  
K. W. Chiang
Keyword(s):  
Inertial Sensors ◽  
Distance Estimation ◽  
Dead Reckoning ◽  
Indoor Positioning ◽  
Walking Distance ◽  
Indoor Environments ◽  
Alternative Scheme ◽  
Differential Distance ◽  
Pedestrian Dead Reckoning ◽  
Distance Correction

Abstract. Recently, indoor positioning becomes a popular issue because of its corresponding location-aware applications. Owing to the limits of the sheltered signal of satellites in indoor environments, one of the alternative scheme is Bluetooth Low Energy (BLE) technology. BLE device broadcasts Received Signal Strength Indicator (RSSI) for distance estimation and further positioning. However, in the complex indoor environment, the reflection, fading, and multipath effect of BLE make the variable RSSI and may lead to poor quality of RSSI. In this study, the concept called Differential Distance Correction (DDC) is similar to the Differential Global Navigation Satellite System (DGNSS). This method can eliminate some residuals and further improve the results with the corrected distance. On the other hand, Pedestrian Dead Reckoning (PDR) is another common indoor positioning method. PDR can propagate the next position from the current position by the implemented of inertial sensors. Despite that, the error of inertial sensors would accumulate with time and walking distance, which position update is required for restraining the drift. Accordingly, the two indoor positioning methods have their strong and weak point. BLE-based positioning is absolute positioning, while PDR is relative positioning. This study proposes a concept that combines the two methods. The pedestrian receives the RSSI and records the information from inertial sensors simultaneously. Through the complementary of two methods, the positioning results would be improved from 29% to 66% according to different travelled distance.

scholarly journals S-PDR: SBAUPT-Based Pedestrian Dead Reckoning Algorithm for Free-Moving Handheld Devices

Geomatics ◽  
2021 ◽  
Vol 1 (2) ◽  
pp. 148-176
Author(s):  
Maan Khedr ◽  
Naser El-Sheimy
Keyword(s):  
Smart Cities ◽  
Dead Reckoning ◽  
Human Motion ◽  
Indoor Navigation ◽  
Location Based Services ◽  
Navigation Systems ◽  
Short Term ◽  
Navigation Solution ◽  
Correction Technique ◽  
Pedestrian Dead Reckoning

Mobile location-based services (MLBS) are attracting attention for their potential public and personal use for a variety of applications such as location-based advertisement, smart shopping, smart cities, health applications, emergency response, and even gaming. Many of these applications rely on Inertial Navigation Systems (INS) due to the degraded GNSS services indoors. INS-based MLBS using smartphones is hindered by the quality of the MEMS sensors provided in smartphones which suffer from high noise and errors resulting in high drift in the navigation solution rapidly. Pedestrian dead reckoning (PDR) is an INS-based navigation technique that exploits human motion to reduce navigation solution errors, but the errors cannot be eliminated without aid from other techniques. The purpose of this study is to enhance and extend the short-term reliability of PDR systems for smartphones as a standalone system through an enhanced step detection algorithm, a periodic attitude correction technique, and a novel PCA-based motion direction estimation technique. Testing shows that the developed system (S-PDR) provides a reliable short-term navigation solution with a final positioning error that is up to 6 m after 3 min runtime. These results were compared to a PDR solution using an Xsens IMU which is known to be a high grade MEMS IMU and was found to be worse than S-PDR. The findings show that S-PDR can be used to aid GNSS in challenging environments and can be a viable option for short-term indoor navigation until aiding is provided by alternative means. Furthermore, the extended reliable solution of S-PDR can help reduce the operational complexity of aiding navigation systems such as RF-based indoor navigation and magnetic map matching as it reduces the frequency by which these aiding techniques are required and applied.

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