A linear state model for PDR+WLAN positioning

Author

Raitoharju, Matti ; Nurminen, Henri ; Piche, Robert

Author_Institution

Dept. of Autom. Sci. & Eng., Tampere Univ. of Technol., Tampere, Finland

fYear

2013

fDate

8-10 Oct. 2013

Firstpage

113

Lastpage

118

Abstract

Indoor positioning based on WLAN signals is often enhanced using pedestrian dead reckoning (PDR) based on an inertial measurement unit. The state evolution model in PDR is usually nonlinear. We present a new linear state evolution model for PDR. In simulated-data and real-data tests of tightly coupled WLAN-PDR positioning, we find that the positioning accuracy with this linear model is almost as good as with traditional models when the initial state is known, and better when the initial state is not known. The proposed method is computationally light and is also suitable for smoothing.

Keywords

indoor radio; radionavigation; signal processing; wireless LAN; PDR-WLAN positioning; WLAN signal enhancement; indoor positioning; inertial measurement unit; linear state evolution model; pedestrian dead reckoning; real-data tests; simulated-data set; state evolution model; tightly coupled WLAN-PDR positioning; Accuracy; Computational modeling; Covariance matrices; Data models; Kalman filters; Smoothing methods; Wireless LAN; Hybridization approaches; Pedestrian dead reckoning; Sensor based localization; Signals-of-Opportunity;

fLanguage

English

Publisher

ieee

Conference_Titel

Design and Architectures for Signal and Image Processing (DASIP), 2013 Conference on

Conference_Location

Cagliari

Type

conf

Filename

6661527