Scenario-based evaluations of high-accuracy personal positioning systems
2012 (English)In: Proc. of IEEE/ION Position Location and Navigation Symposium (PLANS), IEEE conference proceedings, 2012, 106-112 p.Conference paper (Refereed)
Foot-mounted inertial sensors combined with GPS-receivers, magnetometers, and barometric pressure sensors have shown great potential in providing high-accuracy positioning systems for first responder and military applications. Several factors, including the type of movement, surface, and the shape of the trajectory, can strongly influence the performance of foot-mounted inertial navigation systems. There is a need for realistic scenario-based evaluations as a complement to the controlled environment tests that have been published in the literature. In this work we evaluate the performance of a foot-mounted inertial navigation system using three-axis accelerometers, gyroscopes and magnetometers during realistic scenario-based measurements. The position accuracy is evaluated by using a camera-based reference system which positions itself towards visual markers placed at pre-surveyed positions, using a slightly modified version of the ARToolKitPlus software. Maximum position errors of 2.5 to 5.5 meters were obtained during four separate high-tempo building clearing operations that lasted approximately three and a half minutes each. Further improvements in accuracy, as well as improved robustness towards different movement patterns, can be achieved by implementing an adaptive stand-still detection algorithm.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2012. 106-112 p.
Angular velocity, Detection algorithms, Fires, Legged locomotion, Magnetometers, Radio navigation
IdentifiersURN: urn:nbn:se:kth:diva-107132DOI: 10.1109/PLANS.2012.6236871ScopusID: 2-s2.0-84866252503ISBN: 978-1-4673-0385-9OAI: oai:DiVA.org:kth-107132DiVA: diva2:574733
IEEE/ION Position Location and Navigation Symposium (PLANS),Myrtle Beach SC,23-26 April 2012
FunderICT - The Next Generation
QC 201212212012-12-212012-12-062013-04-11Bibliographically approved