Particle filter for context sensitive indoor pedestrian navigation
Novel particle filter design combines foot mounted inertial (IMU), bluetooth low energy (BLE) and ultra-wideband (UWB) technologies along with map matching into a seamless integrated navigation system for indoors. The system was evaluated by 10 test walks along an 80m long indoor track including sta...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
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2016
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| Online Access: | https://eprints.nottingham.ac.uk/37288/ |
| _version_ | 1848795427010248704 |
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| author | Peltola, Pekka Hill, Chris Moore, Terry |
| author_facet | Peltola, Pekka Hill, Chris Moore, Terry |
| author_sort | Peltola, Pekka |
| building | Nottingham Research Data Repository |
| collection | Online Access |
| description | Novel particle filter design combines foot mounted inertial (IMU), bluetooth low energy (BLE) and ultra-wideband (UWB) technologies along with map matching into a seamless integrated navigation system for indoors. The system was evaluated by 10 test walks along an 80m long indoor track including stairs and running. 95% of the time the average error for a particle was below 3.1 m with filter completion success rate of 90%. Furthermore, a system without UWB using only IMU, BLE and map matching achieved an average error for a particle to be below 3.6 m with filter completion success rate of 70%. The selected technologies and sensors are affordable and easily deployable. Inertial measurement unit's characteristics complement the disadvantages in the rf technologies and vice versa. The code for the rover can be implemented on a modern mobile device together with a foot mounted IMU. |
| first_indexed | 2025-11-14T19:31:54Z |
| format | Conference or Workshop Item |
| id | nottingham-37288 |
| institution | University of Nottingham Malaysia Campus |
| institution_category | Local University |
| last_indexed | 2025-11-14T19:31:54Z |
| publishDate | 2016 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | nottingham-372882020-05-04T18:07:36Z https://eprints.nottingham.ac.uk/37288/ Particle filter for context sensitive indoor pedestrian navigation Peltola, Pekka Hill, Chris Moore, Terry Novel particle filter design combines foot mounted inertial (IMU), bluetooth low energy (BLE) and ultra-wideband (UWB) technologies along with map matching into a seamless integrated navigation system for indoors. The system was evaluated by 10 test walks along an 80m long indoor track including stairs and running. 95% of the time the average error for a particle was below 3.1 m with filter completion success rate of 90%. Furthermore, a system without UWB using only IMU, BLE and map matching achieved an average error for a particle to be below 3.6 m with filter completion success rate of 70%. The selected technologies and sensors are affordable and easily deployable. Inertial measurement unit's characteristics complement the disadvantages in the rf technologies and vice versa. The code for the rover can be implemented on a modern mobile device together with a foot mounted IMU. 2016-08-08 Conference or Workshop Item PeerReviewed Peltola, Pekka, Hill, Chris and Moore, Terry (2016) Particle filter for context sensitive indoor pedestrian navigation. In: 2016 International Conference on Localization and GNSS, ICL-GNSS 2016, 28-30 June 2016, Barcelona, Spain. Bandpass filters; global positioning system; indoor postioning systems; mobile devices; monte carlo methods; navigation systems; units of measurement; bluetooth low energies (ble); context sensitive; inertial measurement unit; integrated navigation systems; particle filter; pedestrian navigation; ultra-wideband technology http://dx.doi.org/10.1109/ICL-GNSS.2016.7533865 10.1109/ICL-GNSS.2016.7533865 10.1109/ICL-GNSS.2016.7533865 10.1109/ICL-GNSS.2016.7533865 |
| spellingShingle | Bandpass filters; global positioning system; indoor postioning systems; mobile devices; monte carlo methods; navigation systems; units of measurement; bluetooth low energies (ble); context sensitive; inertial measurement unit; integrated navigation systems; particle filter; pedestrian navigation; ultra-wideband technology Peltola, Pekka Hill, Chris Moore, Terry Particle filter for context sensitive indoor pedestrian navigation |
| title | Particle filter for context sensitive indoor pedestrian navigation |
| title_full | Particle filter for context sensitive indoor pedestrian navigation |
| title_fullStr | Particle filter for context sensitive indoor pedestrian navigation |
| title_full_unstemmed | Particle filter for context sensitive indoor pedestrian navigation |
| title_short | Particle filter for context sensitive indoor pedestrian navigation |
| title_sort | particle filter for context sensitive indoor pedestrian navigation |
| topic | Bandpass filters; global positioning system; indoor postioning systems; mobile devices; monte carlo methods; navigation systems; units of measurement; bluetooth low energies (ble); context sensitive; inertial measurement unit; integrated navigation systems; particle filter; pedestrian navigation; ultra-wideband technology |
| url | https://eprints.nottingham.ac.uk/37288/ https://eprints.nottingham.ac.uk/37288/ https://eprints.nottingham.ac.uk/37288/ |