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
PublisherInstitute of Electrical and Electronic Engineers IEEE
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] Institute of Electrical and Electronic Engineers IEEE. 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. Institute of Electrical and Electronic Engineers IEEE, 2010.
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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, Institute of Electrical and Electronic Engineers IEEE, 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. Institute of Electrical and Electronic Engineers IEEE, 2010. 5646682.

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

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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.

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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. Institute of Electrical and Electronic Engineers IEEE. 2010. 5646682 https://doi.org/10.1109/IPIN.2010.5646682