Laser based personal navigation system

This paper presents a human localization system for beaconless indoor positioning. The system is based on traditional dead-reckoning sensors including a compass, a gyro, and accelerometers. Due to the difficult kinematics of a human, there are no ready solutions for the dead reckoning. This problem is solved by using a self-made stride length measurement unit and laser scan matching. The dead reckoning always has unbounded error and thus a map based localization algorithm is needed. The map is based on CAD-model and the localization is done using Monte Carlo localization. As a result the human being is localized indoors with bounded error. The system is used for incorporating the human into telematic system of cooperating robotic and human entities. The functionality of the integrated system is verified with tests in the European Union 1ST-project called PeLoTe.