NDLI: Trajectory calibration approach using a flexible particle filter for PNS

Content Provider	IEEE Xplore Digital Library
Author	Li Yanghuan Gu Yang Song Qian Ma Ming
Copyright Year	2014
Description	Author affiliation: Nat. Univ. of Defense Technol., Changsha, China (Li Yanghuan; Gu Yang; Song Qian; Ma Ming)
Abstract	An applicable inertial-based pedestrian navigation system (PNS) is often composed of two stages: trajectory-generation stage and trajectory-calibration stage. As a mature algorithm, ZUPT (Zero-velocity Update)-aided EKF (Extended Kalman Filter) is commonly deployed to resolve trajectories of pedestrians, with short-term drifts suppressed during stance phase. In the trajectory-calibration stage, many a priori knowledge based methods are adopted to suppress or even eliminate long-term drifts. In this paper, we propose a particle filter based approach for trajectory calibration with awareness of the rectangular structures of buildings. The navigation frame is divided into eight directions, including four “domain” directions and four complementary directions. The “domain” directions are consistent with the layout of the rectangular building structure, while the complementary directions are set to avoid abrupt adjustment in minority situations, such as turnings and random walks. In the particle filter framework, the headings and positions from the previous stage are adjusted by assigning weight to particles according to a Gaussian function, which over-weight particles nearby the eight directions and de-weight those more far away from them. Along with the resampling procedure, long-term heading drifts are suppressed by gradually eliminating particles at odds with the rectangular building structure. To verify the accuracy and robustness of the proposed approach, the authors have conducted many real-world experiments in different scenarios. In a typical office building experiment with corridors and stairs, the location error is less than 1% of total walking distance, which is acceptable in most applications. Another relatively large-scale walk in a mall with curves and lines demonstrates the adaptability of our approach to some special situations with complex paths. The results have shown that our approach can perform accurate, continuous and stable positioning.
Starting Page	19
Ending Page	23
File Size	752965
Page Count	5
File Format	PDF
ISBN	9781467380546
DOI	10.1109/IPIN.2014.7275463
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-27
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Indoor navigation PNS Dominant direction Buildings structure Map Particle filter
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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