Particle filter and smoother for indoor localization
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review
Details
| Original language | English |
|---|---|
| Title of host publication | International Conference on Indoor Positioning and Indoor Navigation, IPIN 2013, 28-31 Oct 2013, Montbéliard-Belfort, France |
| Place of Publication | Piscataway, NJ |
| Publisher | IEEE |
| Pages | 137-146 |
| Number of pages | 10 |
| DOIs | |
| Publication status | Published - 2013 |
| Publication type | A4 Article in a conference publication |
Publication series
| Name | International Conference on Indoor Positioning and Indoor Navigation |
|---|
Abstract
We present a real-time particle filter for 2D and 3D hybrid indoor positioning. It uses wireless local area network (WLAN) based position measurements, step and turn detection from a hand-held inertial sensor unit, floor plan restrictions, altitude change measurements from barometer and possibly other measurements such as occasional GNSS fixes. We also present a particle smoother, which uses future measurements to improve the position estimate for non-real-time applications. A lightweight fallback filter is run in the background for initialization, divergence monitoring and possibly re-initialization. In real-data tests the particle filter is more accurate and consistent than the methods that do not use floor plans. An example is shown on how smoothing helps to improve the filter estimate. Moreover, a floor change case is presented, in which the filter is capable of detecting the floor change and improving the 2D accuracy using the floor change information.
Publication forum classification
Field of science, Statistics Finland
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