liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
Indoor Positioning Using Opportunistic Multi-Frequency RSS With Foot-Mounted INS
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2014 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Inomhuspositionering baserat på opportunistiska signalstyrkemätningar och fotmonterad TNS (Swedish)
Abstract [en]

Reliable and accurate positioning systems are expected to significantly improve the safety for first responders and enhance their operational efficiency. To be effective, a first responder positioning systemmust provide room level accuracy during extended time periods of indoor operation. This thesis presents a system which combines a zero-velocity-update (ZUPT) aided inertial navigation system (INS), using a foot-mounted inertial measurement unit (IMU), with the use of opportunistic multi-frequency received signal strength (RSS) measurements. The system does not rely on maps or pre-collected data from surveys of the radio-frequency (RF environment; instead, it builds its own database of collected rss measurements during the course of the operation. New RSS measurements are continuously compared with the stored values in the database, and when the user returns to a previously visited area this can thus be detected. This enables loop-closures to be detected online, which can be used for error drift correction. The system utilises a distributed particle simultaneous localisation and mapping (DP-SLAM) algorithm which provides a flexible 2-D navigation platform that can be extended with more sensors. The experimental results presented in this thesis indicates that the developed rss slam algorithm can, in many cases, significantly improve the positioning performance of a foot-mounted INS.

Place, publisher, year, edition, pages
2014. , 58 p.
Keyword [en]
Particle filters, Simultaneous localization and mapping, Radio navigation, Multisensor integration
National Category
Signal Processing Control Engineering
URN: urn:nbn:se:liu:diva-111072ISRN: LiTH-ISY-EX--14/4798--SEOAI: diva2:753012
External cooperation
Totalförsvarets forskningsinstitut (FOI)
Subject / course
Electrical Engineering
2014-09-19, Systemet, Linköpings universitet, Linköping, 13:15
Available from: 2014-10-13 Created: 2014-10-06 Last updated: 2014-10-13Bibliographically approved

Open Access in DiVA

fulltext(10524 kB)284 downloads
File information
File name FULLTEXT01.pdfFile size 10524 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Nilsson, Martin
By organisation
Automatic ControlThe Institute of Technology
Signal ProcessingControl Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 284 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 1083 hits
ReferencesLink to record
Permanent link

Direct link