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Pedestrian Dead Reckoning with Particle Filter for Handheld Smartphone

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


Original languageEnglish
Title of host publication2016 International Conference on Indoor Positioning and Indoor Navigation (IPIN)
Number of pages7
ISBN (Electronic)978-1-5090-2425-4
Publication statusPublished - 17 Nov 2016
Publication typeA4 Article in a conference publication
EventInternational Conference on Indoor Positioning and Indoor Navigation -
Duration: 1 Jan 1900 → …

Publication series

ISSN (Electronic)2471-917X


ConferenceInternational Conference on Indoor Positioning and Indoor Navigation
Period1/01/00 → …


Commonly used Global Navigation Satellite Systems (GNSS) are inappropriate as Location Based Services (LBS) in indoor environment. Therefore research teams are developing different systems, which can be used as a suitable alternative. One of options is to use Inertial Navigation System (INS) which consists of inertial sensors and mathematic procedures. This concept has been known for a long time, but with arrival of Microelectro Mechanical System (MEMS) INS found wide use. Smartphones with inertial sensors, such as accelerometers and gyroscopes, allow us to use them as input devices for Pedestrian Dead Reckoning (PDR). In this paper we present PDR by using smartphone sensors. They can be classified as low-cost Inertial Measurement Unit (IMU), and have been compared with more precise and expensive Xsens IMU. Accuracy of inertial sensors has increased in the past few years, but they still cannot alone provide proper accuracy because of many negative effects, such as heading drift due to gyroscope bias. Particle Filter (PF) has been successfully used with map constraints to increase the accuracy of proposed location system. Presented results show that low-cost smartphone IMU combined with PF can be applicable as proper navigation system.

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