scholarly journals Visual-Inertial Indoor Navigation Systems and Algorithms for UAV Inspection Vehicles

2020 ◽  
Author(s):  
Lorenzo Galtarossa ◽  
Luca Francesco Navilli ◽  
Marcello Chiaberge
Keyword(s):  
Indoor Navigation ◽  
Navigation Systems

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.

scholarly journals Using a game engine to visualize the Main Building of the Warsaw University of Technology in a mobile application

2020 ◽  
Vol 52 (2) ◽  
pp. 61-73
Author(s):  
Jacek Bernard Marciniak ◽  
Hubert Janicki
Keyword(s):  
Mobile Application ◽  
3D Model ◽  
Indoor Navigation ◽  
Navigation Systems ◽  
Two Dimensional ◽  
Game Engine ◽  
Main Building ◽  
Model Based ◽  
University Of Technology ◽  
Source Data

AbstractThe aim of the study presented in this article is to identify and analyse the problems which arise when creating a 3D model based on two-dimensional data and its import into a game engine and then developing algorithms to automate this process. The authors decided that they would use the Unity game engine to create an application presenting the results of modelling the interior of the Main Building of the Warsaw University of Technology. The work was divided into stages in which problems related to the adopted method were identified and the automation of selected activities was suggested. The main tasks performed during the study included processing the source data into a 3D model along with the correction of errors made during this process, detailing the model by adding characteristic elements of the building’s interior, and creating the so-called game scene in the Unity game engine along with the implementation of the application’s behaviour. The developed software can be integrated with indoor navigation systems, and the implemented scripts can be used during the preparation of other models.

scholarly journals Indoor navigation systems based on data mining techniques in internet of things: a survey

2018 ◽  
Vol 25 (3) ◽  
pp. 1385-1402 ◽  
Author(s):  
Mahbubeh Sattarian ◽  
Javad Rezazadeh ◽  
Reza Farahbakhsh ◽  
Alireza Bagheri
Keyword(s):  
Data Mining ◽  
Internet Of Things ◽  
Indoor Navigation ◽  
Navigation Systems ◽  
Data Mining Techniques

scholarly journals Audio Guide for Visually Impaired People Based on Combination of Stereo Vision and Musical Tones

Sensors ◽  
2019 ◽  
Vol 20 (1) ◽  
pp. 151 ◽  
Author(s):  
Walter C. S. S. Simões ◽  
Yuri M. L. R. Silva ◽  
José Luiz de S. Pio ◽  
Nasser Jazdi ◽  
Vicente F. de Lucena
Keyword(s):  
Stereo Vision ◽  
Dead Reckoning ◽  
Ground Level ◽  
Indoor Navigation ◽  
Linear Filter ◽  
Navigation Systems ◽  
Delivery Time ◽  
Visually Impaired People ◽  
Margin Of Error ◽  
Pedestrian Dead Reckoning

Indoor navigation systems offer many application possibilities for people who need information about the scenery and the possible fixed and mobile obstacles placed along the paths. In these systems, the main factors considered for their construction and evaluation are the level of accuracy and the delivery time of the information. However, it is necessary to notice obstacles placed above the user’s waistline to avoid accidents and collisions. In this paper, different methodologies are associated to define a hybrid navigation model called iterative pedestrian dead reckoning (i-PDR). i-PDR combines the PDR algorithm with a Kalman linear filter to correct the location, reducing the system’s margin of error iteratively. Obstacle perception was addressed through the use of stereo vision combined with a musical sounding scheme and spoken instructions that covered an angle of 120 degrees in front of the user. The results obtained in the margin of error and the maximum processing time are 0.70 m and 0.09 s, respectively, with obstacles at ground level and suspended with an accuracy equivalent to 90%.

A dual-rate multi-filter algorithm for LiDAR-aided indoor navigation systems

2014 ◽  
Author(s):  
Shifei Liu ◽  
Mohamed Maher Atia ◽  
Tashfeen Karamat ◽  
Sidney Givigi ◽  
Aboelmagd Noureldin
Keyword(s):  
Indoor Navigation ◽  
Navigation Systems

scholarly journals INDOOR NAVIGATION AND MAPPING: PERFORMANCE ANALYSIS OF UWB-BASED PLATFORM POSITIONING

2020 ◽  
Vol XLIII-B1-2020 ◽  
pp. 549-555
Author(s):  
A. Masiero ◽  
H. Perakis ◽  
J. Gabela ◽  
C. Toth ◽  
V. Gikas ◽  
...  
Keyword(s):  
Wide Band ◽  
Indoor Navigation ◽  
Operating Conditions ◽  
Navigation Systems ◽  
Positioning Systems ◽  
Localization And Mapping ◽  
Wide Range ◽  
Increasing Demand ◽  
Slam Algorithm ◽  
Tof Camera

Abstract. The increasing demand for reliable indoor navigation systems is leading the research community to investigate various approaches to obtain effective solutions usable with mobile devices. Among the recently proposed strategies, Ultra-Wide Band (UWB) positioning systems are worth to be mentioned because of their good performance in a wide range of operating conditions. However, such performance can be significantly degraded by large UWB range errors; mostly, due to non-line-of-sight (NLOS) measurements. This paper considers the integration of UWB with vision to support navigation and mapping applications. In particular, this work compares positioning results obtained with a simultaneous localization and mapping (SLAM) algorithm, exploiting a standard and a Time-of-Flight (ToF) camera, with those obtained with UWB, and then with the integration of UWB and vision. For the latter, a deep learning-based recognition approach was developed to detect UWB devices in camera frames. Such information is both introduced in the navigation algorithm and used to detect NLOS UWB measurements. The integration of this information allowed a 20% positioning error reduction in this case study.

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