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An efficient indoor positioning particle filter using a floor-plan based proposal distribution

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Details

Original languageEnglish
Title of host publication19th International Conference on Information Fusion (FUSION)
PublisherIEEE
Number of pages8
ISBN (Print)978-0-9964527-4-8
Publication statusPublished - 2016
Publication typeA4 Article in a conference publication
EventINTERNATIONAL CONFERENCE ON INFORMATION FUSION -
Duration: 1 Jan 1900 → …

Conference

ConferenceINTERNATIONAL CONFERENCE ON INFORMATION FUSION
Period1/01/00 → …

Abstract

We present a novel floor-plan and PDR (pedestrian dead reckoning) based proposal distribution for indoor positioning particle filtering. Including floor-plan information in the proposal distribution makes the particle filtering more efficient than using the map only in the measurement model, because the proposal distribution becomes more accurate and the measurement model less accurate. The method uses offline- computed distances from each point of a regular grid to the closest wall in each direction. Our simulations show that the novel proposal distribution combined with a floor-plan and PDR based motion model improves the positioning accuracy with small numbers of particles and noisy PDR compared to the particle filters that use the floor-plan only for particle weighting.

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