Abstract
A smart-phone based hand-held indoor positioning system is presented in this paper. The system collects data using the accelerometers, gyroscopes, barometers and gravity sensors embedded in the smart-phone. The accelerometer and gravity data are used for zero-velocity detection and calculating the vertical displacement of each walking step, and then the inverted pendulum model is applied to calculate the step length of every step. The angle of direction is estimated by processing gyroscope data with the quaternion method. The step length and the direction angle of each step are combined to determine the coordinates of each step. The barometer is used for measuring the height information. A Kalman filter is used in zero-velocity-update (ZUPT) to reduce the vertical speed offset caused by accelerometer drift errors. Wifi is also fused in our system. In order to guarantee the accuracy, map information and magnetic field information are used in the navigation systems. The experiment results show that we obtained high precision results with common hand-held smart-phone often seen on market.
Original language | English |
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Title of host publication | 2017 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2017 |
Publisher | IEEE |
Pages | 1-7 |
Number of pages | 7 |
Volume | 2017-January |
ISBN (Electronic) | 9781509062980 |
DOIs | |
Publication status | Published (in print/issue) - 20 Nov 2017 |
Event | 2017 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2017 - Sapporo, Japan Duration: 18 Sept 2017 → 21 Sept 2017 |
Conference
Conference | 2017 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2017 |
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Country/Territory | Japan |
City | Sapporo |
Period | 18/09/17 → 21/09/17 |
Keywords
- Magnetic field information
- Maps
- Smart-phone based
- Wifi