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

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

1
Department of Computer Science, Université de Sherbrooke, 2500 boulevard de l’Université, Sherbrooke J1K 2R1, QC, Canada
2
Applied Research Group, Bentley Systems, 3645 boulevard Sainte-Anne, Québec G1E 3L1, QC, Canada
3
Section GIS Technology, OTB, Delft University of Technology, Jaffalaan 9, Delft 2628 BX, The Netherlands
4
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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Abstract

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