An Improved Pedestrian Navigation Method Based on the Combination of Indoor Map Assistance and Adaptive Particle Filter
نویسندگان
چکیده
At present, the traditional indoor pedestrian navigation methods mainly include dead reckoning (PDR) and zero velocity update (ZUPT), but these have problem of error divergence during long time navigation. To solve this problem, under condition not relying on active sensing information, combined with characteristics particles “not going through wall” in map building structure, an improved adaptive particle filter (PF) based method is proposed for paper. This can restrain system a time. Compared to method, combination assistance (MA) filter, global search MA used positioning unknown initial position heading. In order low operation efficiency caused by large number PF, calculation adaptively adjusting process resampling proposed. The results simulation data actual test show that integrated effectively suppress system. Under total distance more than 415.44 m environment about 2600 m2, average maximum are less two meters relative reference point.
منابع مشابه
Map-Based Indoor Pedestrian Navigation Using an Auxiliary Particle Filter
In this research, a non-infrastructure-based and low-cost indoor navigation method is proposed through the integration of smartphone built-in microelectromechanical systems (MEMS) sensors and indoor map information using an auxiliary particle filter (APF). A cascade structure Kalman particle filter algorithm is designed to reduce the computational burden and improve the estimation speed of the ...
متن کاملA Particle Filter for Smartphone-Based Indoor Pedestrian Navigation
This paper considers the problem of indoor navigation by means of low-cost mobile devices. The required accuracy, the low reliability of low-cost sensor measurements and the typical unavailability of the GPS signal make indoor navigation a challenging problem. In this paper, a particle filtering approach is presented in order to obtain good navigation performance in an indoor environment: the p...
متن کاملAn Improved Map-Matching Technique Based on the Fréchet Distance Approach for Pedestrian Navigation Services
Wearable and smartphone technology innovations have propelled the growth of Pedestrian Navigation Services (PNS). PNS need a map-matching process to project a user's locations onto maps. Many map-matching techniques have been developed for vehicle navigation services. These techniques are inappropriate for PNS because pedestrians move, stop, and turn in different ways compared to vehicles. In a...
متن کاملPedestrian Indoor Localization and Tracking using a Particle Filter combined with a learning Accessibility Map
As mobile phones are starting to get equipped with inertial sensors, indoor navigation for pedestrians becomes an increasingly interesting topic in research. This work aims to develop and evaluate the use of a Particle Filter to deal with noisy sensor measurements of an Inertial Measurement Unit (IMU) providing localization and tracking of a pedestrian in indoor environments. Designed at the In...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Remote Sensing
سال: 2022
ISSN: ['2315-4632', '2315-4675']
DOI: https://doi.org/10.3390/rs14246282