Hybrid positioning system combining angle-based localization, pedestrian dead reckoning and map filtering

Paul Kemppi, T. Rautiainen, V. Ranki, F. Belloni, Juuso Pajunen

    Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

    31 Citations (Scopus)

    Abstract

    We present a hybrid indoor positioning solution combining angle-based localization, pedestrian dead reckoning, and map filtering.
    The angle-based localization system provides absolute location estimates, whereas pedestrian dead reckoning (PDR) results in accurate shape and length of the traversed route without absolute location and heading information.
    PDR movement and angle-based location estimates are fused together with a building vector map in a fusion filter, which in this study is implemented through a particle filter. When the fusion filter has been initialized with absolute position data and has converged, it can run also on PDR and map filtering, independently of the angle-based localization system, in areas that are not illuminated by multi-antenna arrays.
    In principle the same fusion design could accommodate location estimates also from other positioning sources, for example WiFi, or GPS in outdoor-to-indoor transitions.
    By combining information from various positioning modalities, different types of indoor environments can be provided with seamless positioning coverage with reasonable accuracy and infrastructural investments.
    Original languageEnglish
    Title of host publicationProceedings
    Subtitle of host publicationInternational Conference on Indoor Positioning and Indoor Navigation, IPIN 2010
    PublisherIEEE Institute of Electrical and Electronic Engineers
    Number of pages7
    ISBN (Electronic)978-1-4244-5865-3
    ISBN (Print)978-1-4244-5862-2
    DOIs
    Publication statusPublished - 2010
    MoE publication typeA4 Article in a conference publication
    EventInternational Conference on Indoor Positioning and Indoor Navigation, IPIN 2010 - Zurich, Switzerland
    Duration: 15 Sep 201017 Sep 2010

    Conference

    ConferenceInternational Conference on Indoor Positioning and Indoor Navigation, IPIN 2010
    Abbreviated titleIPIN 2010
    CountrySwitzerland
    CityZurich
    Period15/09/1017/09/10

    Fingerprint

    positioning system
    pedestrian
    positioning
    filter
    antenna
    GPS

    Keywords

    • Angle-based localization
    • Indoor positioning
    • Map filtering
    • Particle filter
    • Pedestrian dead reckoning
    • Sensor fusion

    Cite this

    Kemppi, P., Rautiainen, T., Ranki, V., Belloni, F., & Pajunen, J. (2010). Hybrid positioning system combining angle-based localization, pedestrian dead reckoning and map filtering. In Proceedings: International Conference on Indoor Positioning and Indoor Navigation, IPIN 2010 [5646682] IEEE Institute of Electrical and Electronic Engineers . https://doi.org/10.1109/IPIN.2010.5646682
    Kemppi, Paul ; Rautiainen, T. ; Ranki, V. ; Belloni, F. ; Pajunen, Juuso. / Hybrid positioning system combining angle-based localization, pedestrian dead reckoning and map filtering. Proceedings: International Conference on Indoor Positioning and Indoor Navigation, IPIN 2010. IEEE Institute of Electrical and Electronic Engineers , 2010.
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    title = "Hybrid positioning system combining angle-based localization, pedestrian dead reckoning and map filtering",
    abstract = "We present a hybrid indoor positioning solution combining angle-based localization, pedestrian dead reckoning, and map filtering. The angle-based localization system provides absolute location estimates, whereas pedestrian dead reckoning (PDR) results in accurate shape and length of the traversed route without absolute location and heading information. PDR movement and angle-based location estimates are fused together with a building vector map in a fusion filter, which in this study is implemented through a particle filter. When the fusion filter has been initialized with absolute position data and has converged, it can run also on PDR and map filtering, independently of the angle-based localization system, in areas that are not illuminated by multi-antenna arrays. In principle the same fusion design could accommodate location estimates also from other positioning sources, for example WiFi, or GPS in outdoor-to-indoor transitions. By combining information from various positioning modalities, different types of indoor environments can be provided with seamless positioning coverage with reasonable accuracy and infrastructural investments.",
    keywords = "Angle-based localization, Indoor positioning, Map filtering, Particle filter, Pedestrian dead reckoning, Sensor fusion",
    author = "Paul Kemppi and T. Rautiainen and V. Ranki and F. Belloni and Juuso Pajunen",
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    Kemppi, P, Rautiainen, T, Ranki, V, Belloni, F & Pajunen, J 2010, Hybrid positioning system combining angle-based localization, pedestrian dead reckoning and map filtering. in Proceedings: International Conference on Indoor Positioning and Indoor Navigation, IPIN 2010., 5646682, IEEE Institute of Electrical and Electronic Engineers , International Conference on Indoor Positioning and Indoor Navigation, IPIN 2010, Zurich, Switzerland, 15/09/10. https://doi.org/10.1109/IPIN.2010.5646682

    Hybrid positioning system combining angle-based localization, pedestrian dead reckoning and map filtering. / Kemppi, Paul; Rautiainen, T.; Ranki, V.; Belloni, F.; Pajunen, Juuso.

    Proceedings: International Conference on Indoor Positioning and Indoor Navigation, IPIN 2010. IEEE Institute of Electrical and Electronic Engineers , 2010. 5646682.

    Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

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    AU - Rautiainen, T.

    AU - Ranki, V.

    AU - Belloni, F.

    AU - Pajunen, Juuso

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    N2 - We present a hybrid indoor positioning solution combining angle-based localization, pedestrian dead reckoning, and map filtering. The angle-based localization system provides absolute location estimates, whereas pedestrian dead reckoning (PDR) results in accurate shape and length of the traversed route without absolute location and heading information. PDR movement and angle-based location estimates are fused together with a building vector map in a fusion filter, which in this study is implemented through a particle filter. When the fusion filter has been initialized with absolute position data and has converged, it can run also on PDR and map filtering, independently of the angle-based localization system, in areas that are not illuminated by multi-antenna arrays. In principle the same fusion design could accommodate location estimates also from other positioning sources, for example WiFi, or GPS in outdoor-to-indoor transitions. By combining information from various positioning modalities, different types of indoor environments can be provided with seamless positioning coverage with reasonable accuracy and infrastructural investments.

    AB - We present a hybrid indoor positioning solution combining angle-based localization, pedestrian dead reckoning, and map filtering. The angle-based localization system provides absolute location estimates, whereas pedestrian dead reckoning (PDR) results in accurate shape and length of the traversed route without absolute location and heading information. PDR movement and angle-based location estimates are fused together with a building vector map in a fusion filter, which in this study is implemented through a particle filter. When the fusion filter has been initialized with absolute position data and has converged, it can run also on PDR and map filtering, independently of the angle-based localization system, in areas that are not illuminated by multi-antenna arrays. In principle the same fusion design could accommodate location estimates also from other positioning sources, for example WiFi, or GPS in outdoor-to-indoor transitions. By combining information from various positioning modalities, different types of indoor environments can be provided with seamless positioning coverage with reasonable accuracy and infrastructural investments.

    KW - Angle-based localization

    KW - Indoor positioning

    KW - Map filtering

    KW - Particle filter

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    Kemppi P, Rautiainen T, Ranki V, Belloni F, Pajunen J. Hybrid positioning system combining angle-based localization, pedestrian dead reckoning and map filtering. In Proceedings: International Conference on Indoor Positioning and Indoor Navigation, IPIN 2010. IEEE Institute of Electrical and Electronic Engineers . 2010. 5646682 https://doi.org/10.1109/IPIN.2010.5646682