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Sensors 2011, 11(8), 7606-7624; doi:10.3390/s110807606

Indoor Pedestrian Navigation Using Foot-Mounted IMU and Portable Ultrasound Range Sensors

Department of Computer Science, Université de Sherbrooke, 2500 boulevard de l’Université, Sherbrooke J1K 2R1, QC, Canada
Applied Research Group, Bentley Systems, 3645 boulevard Sainte-Anne, Québec G1E 3L1, QC, Canada
Section GIS Technology, OTB, Delft University of Technology, Jaffalaan 9, Delft 2628 BX, The Netherlands
Department of Electrical Engineering, Université Laval, 2325 rue de l’Université, Québec G1V 0A6, QC, Canada
Author to whom correspondence should be addressed.
Received: 4 July 2011 / Revised: 26 July 2011 / Accepted: 28 July 2011 / Published: 2 August 2011
(This article belongs to the Section Physical Sensors)
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Many solutions have been proposed for indoor pedestrian navigation. Some rely on pre-installed sensor networks, which offer good accuracy but are limited to areas that have been prepared for that purpose, thus requiring an expensive and possibly time-consuming process. Such methods are therefore inappropriate for navigation in emergency situations since the power supply may be disturbed. Other types of solutions track the user without requiring a prepared environment. However, they may have low accuracy. Offline tracking has been proposed to increase accuracy, however this prevents users from knowing their position in real time. This paper describes a real time indoor navigation system that does not require prepared building environments and provides tracking accuracy superior to previously described tracking methods. The system uses a combination of four techniques: foot-mounted IMU (Inertial Motion Unit), ultrasonic ranging, particle filtering and model-based navigation. The very purpose of the project is to combine these four well-known techniques in a novel way to provide better indoor tracking results for pedestrians. View Full-Text
Keywords: indoor localization; inertial tracking; model-based navigation; ultrasound range sensors indoor localization; inertial tracking; model-based navigation; ultrasound range sensors

This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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MDPI and ACS Style

Girard, G.; Côté, S.; Zlatanova, S.; Barette, Y.; St-Pierre, J.; Van Oosterom, P. Indoor Pedestrian Navigation Using Foot-Mounted IMU and Portable Ultrasound Range Sensors. Sensors 2011, 11, 7606-7624.

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