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Particle filter and smoother for indoor localization

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Particle filter and smoother for indoor localization. / Nurminen, Henri; Ristimäki, Anssi; Ali-Löytty, Simo; Piche, Robert.

International Conference on Indoor Positioning and Indoor Navigation, IPIN 2013, 28-31 Oct 2013, Montbéliard-Belfort, France. Piscataway, NJ : IEEE, 2013. p. 137-146 (International Conference on Indoor Positioning and Indoor Navigation).

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

Harvard

Nurminen, H, Ristimäki, A, Ali-Löytty, S & Piche, R 2013, Particle filter and smoother for indoor localization. in International Conference on Indoor Positioning and Indoor Navigation, IPIN 2013, 28-31 Oct 2013, Montbéliard-Belfort, France. International Conference on Indoor Positioning and Indoor Navigation, IEEE, Piscataway, NJ, pp. 137-146. https://doi.org/10.1109/IPIN.2013.6817903

APA

Nurminen, H., Ristimäki, A., Ali-Löytty, S., & Piche, R. (2013). Particle filter and smoother for indoor localization. In International Conference on Indoor Positioning and Indoor Navigation, IPIN 2013, 28-31 Oct 2013, Montbéliard-Belfort, France (pp. 137-146). (International Conference on Indoor Positioning and Indoor Navigation). Piscataway, NJ: IEEE. https://doi.org/10.1109/IPIN.2013.6817903

Vancouver

Nurminen H, Ristimäki A, Ali-Löytty S, Piche R. Particle filter and smoother for indoor localization. In International Conference on Indoor Positioning and Indoor Navigation, IPIN 2013, 28-31 Oct 2013, Montbéliard-Belfort, France. Piscataway, NJ: IEEE. 2013. p. 137-146. (International Conference on Indoor Positioning and Indoor Navigation). https://doi.org/10.1109/IPIN.2013.6817903

Author

Nurminen, Henri ; Ristimäki, Anssi ; Ali-Löytty, Simo ; Piche, Robert. / Particle filter and smoother for indoor localization. International Conference on Indoor Positioning and Indoor Navigation, IPIN 2013, 28-31 Oct 2013, Montbéliard-Belfort, France. Piscataway, NJ : IEEE, 2013. pp. 137-146 (International Conference on Indoor Positioning and Indoor Navigation).

Bibtex - Download

@inproceedings{218835083c5a4bf79224779bb15af1b9,
title = "Particle filter and smoother for indoor localization",
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.",
author = "Henri Nurminen and Anssi Ristim{\"a}ki and Simo Ali-L{\"o}ytty and Robert Piche",
note = "to appear in IEEEXPLORE<br/>Contribution: organisation=ase,FACT1=0.75<br/>Contribution: organisation=mat,FACT2=0.25<br/>Portfolio EDEND: 2013-11-29<br/>Publisher name: IEEE",
year = "2013",
doi = "http://dx.doi.org/10.1109/IPIN.2013.6817903",
language = "English",
series = "International Conference on Indoor Positioning and Indoor Navigation",
publisher = "IEEE",
pages = "137--146",
booktitle = "International Conference on Indoor Positioning and Indoor Navigation, IPIN 2013, 28-31 Oct 2013, Montb{\'e}liard-Belfort, France",

}

RIS (suitable for import to EndNote) - Download

TY - GEN

T1 - Particle filter and smoother for indoor localization

AU - Nurminen, Henri

AU - Ristimäki, Anssi

AU - Ali-Löytty, Simo

AU - Piche, Robert

N1 - to appear in IEEEXPLORE<br/>Contribution: organisation=ase,FACT1=0.75<br/>Contribution: organisation=mat,FACT2=0.25<br/>Portfolio EDEND: 2013-11-29<br/>Publisher name: IEEE

PY - 2013

Y1 - 2013

N2 - 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.

AB - 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.

U2 - http://dx.doi.org/10.1109/IPIN.2013.6817903

DO - http://dx.doi.org/10.1109/IPIN.2013.6817903

M3 - Conference contribution

T3 - International Conference on Indoor Positioning and Indoor Navigation

SP - 137

EP - 146

BT - International Conference on Indoor Positioning and Indoor Navigation, IPIN 2013, 28-31 Oct 2013, Montbéliard-Belfort, France

PB - IEEE

CY - Piscataway, NJ

ER -