iPAC: Integrate Pedestrian Dead Reckoning and Computer Vision for Indoor Localization and Tracking

Combining different technologies is gaining significant popularity among researchers and industry for the development of indoor positioning systems (IPSs). These hybrid IPSs emerge as a robust solution for indoor localization as the drawbacks of each technology can be mitigated or even eliminated by using complementary technologies. However, fusing position estimates from different technologies is still very challenging and, therefore, a hot research topic. In this work, we pose fusing the ultrawideband (UWB) position estimates with the estimates provided by a pedestrian dead reckoning (PDR) by using a Kalman filter. To improve the IPS accuracy, a decision-making algorithm was developed that aims to assess the usability of UWB measurements based on the identification of non-line-of-sight (NLOS) conditions. Three different data fusion algorithms are tested, based on three different time-of-arrival positioning algorithms, and experimental results show a localization accuracy of below 1.5 m for a 99th percentile.

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Real Time Indoor Localization Using Geomagnetic Fingerprinting and Pedestrian Dead Reckoning

KIISE Transactions on Computing Practices ◽

10.5626/ktcp.2017.23.4.210 ◽

2017 ◽

Vol 23 (4) ◽

pp. 210-216

Author(s):

HoJun Jang ◽

Lynn Choi

Keyword(s):

Real Time ◽

Indoor Localization ◽

Dead Reckoning ◽

Pedestrian Dead Reckoning

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PDR-Aided Algorithm with WiFi Fingerprint Matching for Indoor Localization

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.701-702.989 ◽

2014 ◽

Vol 701-702 ◽

pp. 989-993

Author(s):

Wen Bin Yu ◽

Peng Li ◽

Zhi Chen ◽

Chang Li

Keyword(s):

Social Network ◽

Indoor Localization ◽

Dead Reckoning ◽

Location Based Services ◽

Fingerprint Matching ◽

Network Applications ◽

Wireless Signal ◽

Signal Fluctuation ◽

Pedestrian Dead Reckoning ◽

Wifi Fingerprint

Recently, indoor localization is essential to enable location-based services for many mobile and social network applications. Due to fluctuation of the wireless signal, the accuracy of a simple WiFi fingerprint-based localization is not high. In this paper, we first exploit Pedestrian Dead Reckoning (PDR) technology to overcome the problem of the wireless signal fluctuation, then propose a PDR-aided algorithm with WiFi fingerprint matching for indoor localization, which using the PDR technology aided indoor localization. Experiments show that our algorithm has better accuracy than other indoor localization methods.

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INDOOR LOCALIZATION USING ACCELEROMETER AND GYROSCOPE SMARTPHONE BASED

Jurnal Teknik Informatika (Jutif) ◽

10.20884/1.jutif.2021.2.2.75 ◽

2021 ◽

Vol 2 (2) ◽

pp. 119-126

Author(s):

Anggreini Intan Permata Sari ◽

Arkham Zahri Rakhman

Keyword(s):

Error Rate ◽

Indoor Localization ◽

Dead Reckoning ◽

Initial Position ◽

Sensor System ◽

System Testing ◽

Accelerometer Sensor ◽

Campus Environment ◽

Gyroscope Sensor ◽

Pedestrian Dead Reckoning

Indoor localization is one of the more accurate technologies to be used to determine indoors or buildings. Pedestrian Dead Reckoning (PDR) is a method of determining the user's position by adding a method that occurs to a known initial position. The displacement that occurs is estimated with the help of an accelerometer sensor attached to the user as a step detector and to determine the direction towards the user using a gyroscope sensor. System testing is carried out in the Institut Teknologi Sumatera’s campus environment on the 2nd floor of Building C and D. The results from the detection of steps get an error rate of 1.13% using a threshold of 0.8.

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Smartphone-Based Pedestrian Dead Reckoning for 3D Indoor Positioning

Sensors ◽

10.3390/s21248180 ◽

2021 ◽

Vol 21 (24) ◽

pp. 8180

Author(s):

Jijun Geng ◽

Linyuan Xia ◽

Jingchao Xia ◽

Qianxia Li ◽

Hongyu Zhu ◽

...

Keyword(s):

Kalman Filter ◽

Indoor Localization ◽

Dead Reckoning ◽

Step Length ◽

Indoor Positioning ◽

Actual Measurement ◽

Location Service ◽

Cubature Kalman Filter ◽

Robust Adaptive ◽

Pedestrian Dead Reckoning

Indoor localization based on pedestrian dead reckoning (PDR) is drawing more and more attention of researchers in location-based services (LBS). The demand for indoor localization has grown rapidly using a smartphone. This paper proposes a 3D indoor positioning method based on the micro-electro-mechanical systems (MEMS) sensors of the smartphone. A quaternion-based robust adaptive cubature Kalman filter (RACKF) algorithm is proposed to estimate the heading of pedestrians based on magnetic, angular rate, and gravity (MARG) sensors. Then, the pedestrian behavior patterns are distinguished by detecting the changes of pitch angle, total accelerometer and barometer values of the smartphone in the duration of effective step frequency. According to the geometric information of the building stairs, the step length of pedestrians and the height difference of each step can be obtained when pedestrians go up and downstairs. Combined with the differential barometric altimetry method, the optimal height can be computed by the robust adaptive Kalman filter (RAKF) algorithm. Moreover, the heading and step length of each step are optimized by the Kalman filter to reduce positioning error. In addition, based on the indoor map vector information, this paper proposes a heading calculation strategy of the 16-wind rose map to improve the pedestrian positioning accuracy and reduce the accumulation error. Pedestrian plane coordinates can be solved based on the Pedestrian Dead-Reckoning (PDR). Finally, combining pedestrian plane coordinates and height, the three-dimensional positioning coordinates of indoor pedestrians are obtained. The proposed algorithm is verified by actual measurement examples. The experimental verification was carried out in a multi-story indoor environment. The results show that the Root Mean Squared Error (RMSE) of location errors is 1.04–1.65 m by using the proposed algorithm for three participants. Furthermore, the RMSE of height estimation errors is 0.17–0.27 m for three participants, which meets the demand of personal intelligent user terminal for location service. Moreover, the height parameter enables users to perceive the floor information.

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Tightly Coupling Fusion of UWB Ranging and IMU Pedestrian Dead Reckoning for Indoor Localization

IEEE Access ◽

10.1109/access.2021.3132645 ◽

2021 ◽

pp. 1-1

Author(s):

Rashid Ali ◽

Ran Liu ◽

Anand Nayyar ◽

Basit Qureshi ◽

Zhiqiang Cao

Keyword(s):

Indoor Localization ◽

Dead Reckoning ◽

Pedestrian Dead Reckoning

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Off-Site Indoor Localization Competitions Based on Measured Data in a Warehouse

Sensors ◽

10.3390/s19040763 ◽

2019 ◽

Vol 19 (4) ◽

pp. 763 ◽

Cited By ~ 3

Author(s):

Ryosuke Ichikari ◽

Katsuhiko Kaji ◽

Ryo Shimomura ◽

Masakatsu Kourogi ◽

Takashi Okuma ◽

...

Keyword(s):

Test Data ◽

Indoor Localization ◽

Dead Reckoning ◽

Measured Data ◽

Practical Performance ◽

Testing Environments ◽

The Many ◽

Warehouse Operations ◽

Pedestrian Dead Reckoning ◽

Unique Capability

The performance of indoor localization methods is highly dependent on the situations in which they are used. Various competitions on indoor localization have been held for fairly comparing the existing indoor localization methods in shared and controlled testing environments. However, it is difficult to evaluate the practical performance in industrial scenarios through the existing competitions. This paper introduces two indoor localization competitions, which are named the “PDR Challenge in Warehouse Picking 2017” and “xDR Challenge for Warehouse Operations 2018” for tracking workers and vehicles in a warehouse scenario. For the PDR Challenge in Warehouse Picking 2017, we conducted a unique competition based on the data measured during the actual picking operation in an actual warehouse. We term the dead-reckoning of a vehicle as vehicle dead-reckoning (VDR), and the term “xDR” is derived from pedestrian dead-reckoning (PDR) plus VDR. As a sequel competition of the PDR Challenge in Warehouse Picking 2017, the xDR Challenge for Warehouse Operations 2018 was conducted as the world’s first competition that deals with tracking forklifts by VDR with smartphones. In the paper, first, we briefly summarize the existing competitions, and clarify the characteristics of our competitions by comparing them with other competitions. Our competitions have the unique capability of evaluating the practical performance in a warehouse by using the actual measured data as the test data and applying multi-faceted evaluation metrics. As a result, we successfully organize the competitions due to the many participants from many countries. As a conclusion of the paper, we summarize the findings of the competitions.

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