DEVELOPMENT OF A PEDESTRIAN INDOOR NAVIGATION SYSTEM BASED ON MULTI-SENSOR FUSION AND FUZZY LOGIC ESTIMATION ALGORITHMS

Y. C. Lai, C. C. Chang, C. M. Tsai, S. Y. Lin, S. C. Huang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

This paper presents a pedestrian indoor navigation system based on the multi-sensor fusion and fuzzy logic estimation algorithms. The proposed navigation system is a self-contained dead reckoning navigation that means no other outside signal is demanded. In order to achieve the self-contained capability, a portable and wearable inertial measure unit (IMU) has been developed. Its adopted sensors are the low-cost inertial sensors, accelerometer and gyroscope, based on the micro electro-mechanical system (MEMS). There are two types of the IMU modules, handheld and waist-mounted. The low-cost MEMS sensors suffer from various errors due to the results of manufacturing imperfections and other effects. Therefore, a sensor calibration procedure based on the scalar calibration and the least squares methods has been induced in this study to improve the accuracy of the inertial sensors. With the calibrated data acquired from the inertial sensors, the step length and strength of the pedestrian are estimated by multi-sensor fusion and fuzzy logic estimation algorithms. The developed multi-sensor fusion algorithm provides the amount of the walking steps and the strength of each steps in real-time. Consequently, the estimated walking amount and strength per step are taken into the proposed fuzzy logic estimation algorithm to estimates the step lengths of the user. Since the walking length and direction are both the required information of the dead reckoning navigation, the walking direction is calculated by integrating the angular rate acquired by the gyroscope of the developed IMU module. Both the walking length and direction are calculated on the IMU module and transmit to a smartphone with Bluetooth to perform the dead reckoning navigation which is run on a self-developed APP. Due to the error accumulating of dead reckoning navigation, a particle filter and a pre-loaded map of indoor environment have been applied to the APP of the proposed navigation system to extend its usability. The experiment results of the proposed navigation system demonstrate good navigation performance in indoor environment with the accurate initial location and direction.

Original languageEnglish
Title of host publicationInternational Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives
EditorsTakashi Fuse, M. Nakagawa
PublisherInternational Society for Photogrammetry and Remote Sensing
Pages81-86
Number of pages6
Edition4W5
ISBN (Electronic)9780000000002, 9781629934297, 9781629935126, 9781629935201
DOIs
Publication statusPublished - 2015 May 11
EventISPRS WG IV/7 and WG V/4 Joint Workshop on Indoor-Outdoor Seamless Modelling, Mapping and Navigation - Tokyo, Japan
Duration: 2015 May 212015 May 22

Publication series

NameInternational Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives
Number4W5
Volume40
ISSN (Print)1682-1750

Other

OtherISPRS WG IV/7 and WG V/4 Joint Workshop on Indoor-Outdoor Seamless Modelling, Mapping and Navigation
CountryJapan
CityTokyo
Period15-05-2115-05-22

All Science Journal Classification (ASJC) codes

  • Information Systems
  • Geography, Planning and Development

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