Title :
Personal navigation system
Author :
Saarinen, Jari ; Suomela, Jussi ; Heikkilä, Seppo ; Elomaa, Mikko ; Halme, Aame
Author_Institution :
Autom. Technol. Lab., Helsinki Univ. of Technol., Finland
fDate :
28 Sept.-2 Oct. 2004
Abstract :
This paper presents a human dead-reckoning system for beaconless indoor positioning. The system is based on traditional dead-reckoning sensors like compass, gyro, and accelerometers. Due to the difficult kinematics of a human, there are no ready solutions for the odometry. This problem is solved by using a self-made stride length measurement unit and laser odometry. All the sensors are integrated to a complete system including sensor fusion. The functionality of the integrated system is verified with tests in an office environment. Finally the test results are analyzed.
Keywords :
laser ranging; length measurement; navigation; personal information systems; sensor fusion; service robots; beaconless indoor positioning; human dead reckoning system; laser odometry; personal navigation system; self-made stride length measurement unit; sensor fusion; Accelerometers; Automation; Fires; Humans; Laboratories; Length measurement; Navigation; Robot kinematics; Robot sensing systems; Sensor fusion;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389354
