An Indoor Navigation System using Stereo Vision, IMU and UWB Sensor Fusion

2019 ◽  
Author(s):  
Hamza Sadruddin ◽  
Ahmed Mahmoud ◽  
Mohamed Atia
Keyword(s):  
Sensor Fusion ◽  
Stereo Vision ◽  
Navigation System ◽  
Indoor Navigation ◽  
Indoor Navigation System

scholarly journals Multi-Sensor Fusion Approach for Improving Map-Based Indoor Pedestrian Localization

Sensors ◽  
2019 ◽  
Vol 19 (17) ◽  
pp. 3786 ◽  
Author(s):  
Huang ◽  
Hsieh ◽  
Liu ◽  
Cheng ◽  
Hsu ◽  
...  
Keyword(s):  
Sensor Fusion ◽  
Navigation System ◽  
Inertial Sensor ◽  
Indoor Navigation ◽  
Sensor Data ◽  
Interior Space ◽  
Localization Accuracy ◽  
Light Sensor ◽  
Indoor Navigation System ◽  
Fusion Approach

The interior space of large-scale buildings, such as hospitals, with a variety of departments, is so complicated that people may easily lose their way while visiting. Difficulties in wayfinding can cause stress, anxiety, frustration and safety issues to patients and families. An indoor navigation system including route planning and localization is utilized to guide people from one place to another. The localization of moving subjects is a critical-function component in an indoor navigation system. Pedestrian dead reckoning (PDR) is a technology that is widely employed for localization due to the advantage of being independent of infrastructure. To improve the accuracy of the localization system, combining different technologies is one of the solutions. In this study, a multi-sensor fusion approach is proposed to improve the accuracy of the PDR system by utilizing a light sensor, Bluetooth and map information. These simple mechanisms are applied to deal with the issue of accumulative error by identifying edge and sub-edge information from both Bluetooth and the light sensor. Overall, the accumulative error of the proposed multi-sensor fusion approach is below 65 cm in different cases of light arrangement. Compared to inertial sensor-based PDR system, the proposed multi-sensor fusion approach can improve 90% of the localization accuracy in an environment with an appropriate density of ceiling-mounted lamps. The results demonstrate that the proposed approach can improve the localization accuracy by utilizing multi-sensor data and fulfill the feasibility requirements of localization in an indoor navigation system.

scholarly journals DEVELOPMENT OF A PEDESTRIAN INDOOR NAVIGATION SYSTEM BASED ON MULTI-SENSOR FUSION AND FUZZY LOGIC ESTIMATION ALGORITHMS

2015 ◽  
Vol XL-4/W5 ◽  
pp. 81-86 ◽  
Author(s):  
Y. C. Lai ◽  
C. C. Chang ◽  
C. M. Tsai ◽  
S. Y. Lin ◽  
S. C. Huang
Keyword(s):  
Fuzzy Logic ◽  
Sensor Fusion ◽  
Navigation System ◽  
Indoor Environment ◽  
Inertial Sensors ◽  
Low Cost ◽  
Dead Reckoning ◽  
Indoor Navigation ◽  
Estimation Algorithms ◽  
Indoor Navigation System

This paper presents a pedestrian indoor navigation system based on the multi-sensor fusion and fuzzy logic estimation algorithms. The proposed navigation system is a self-contained dead reckoning navigation that means no other outside signal is demanded. In order to achieve the self-contained capability, a portable and wearable inertial measure unit (IMU) has been developed. Its adopted sensors are the low-cost inertial sensors, accelerometer and gyroscope, based on the micro electro-mechanical system (MEMS). There are two types of the IMU modules, handheld and waist-mounted. The low-cost MEMS sensors suffer from various errors due to the results of manufacturing imperfections and other effects. Therefore, a sensor calibration procedure based on the scalar calibration and the least squares methods has been induced in this study to improve the accuracy of the inertial sensors. With the calibrated data acquired from the inertial sensors, the step length and strength of the pedestrian are estimated by multi-sensor fusion and fuzzy logic estimation algorithms. The developed multi-sensor fusion algorithm provides the amount of the walking steps and the strength of each steps in real-time. Consequently, the estimated walking amount and strength per step are taken into the proposed fuzzy logic estimation algorithm to estimates the step lengths of the user. Since the walking length and direction are both the required information of the dead reckoning navigation, the walking direction is calculated by integrating the angular rate acquired by the gyroscope of the developed IMU module. Both the walking length and direction are calculated on the IMU module and transmit to a smartphone with Bluetooth to perform the dead reckoning navigation which is run on a self-developed APP. Due to the error accumulating of dead reckoning navigation, a particle filter and a pre-loaded map of indoor environment have been applied to the APP of the proposed navigation system to extend its usability. The experiment results of the proposed navigation system demonstrate good navigation performance in indoor environment with the accurate initial location and direction.

Indoor Navigation System of Omni-Directional Mobile Robot Based on Static Obstacles Avoidance

2020 ◽  
Vol 13 (1) ◽  
pp. 27
Author(s):  
Shaaban Ali Salman ◽  
Qais A. Khasawneh ◽  
Mohammad A. Jaradat ◽  
Mansour Y. Alramlawi
Keyword(s):  
Mobile Robot ◽  
Navigation System ◽  
Indoor Navigation ◽  
Indoor Navigation System

Experimental research of indoor navigation system based on broadcast signals

2020 ◽  
Vol 49 (5) ◽  
pp. 49-57
Author(s):  
A. V. Ksendzuk ◽  
E. A. Surmin ◽  
V. V. Kachesov ◽  
S. O. Zhdanov ◽  
K. S. Shakhalov
Keyword(s):  
Navigation System ◽  
Open Space ◽  
Position Estimation ◽  
Indoor Navigation ◽  
Estimation Accuracy ◽  
Satellite Systems ◽  
Indoor Navigation System ◽  
Point To Point ◽  
Navigation Signals ◽  
Navigation Equipment

Results of an experimental study of a local navigation system based on the processing signals from broadcast sources presented. The results of the development of processing algorithms for point-to-point coordinates estimation of the object are presented. The results of the development of algorithms for trajectories estimation are presented. In performed simulation the possibility of obtaining submeter position estimation accuracy in the proposed system is shown. Development results of the navigation module demonstrator are presented. The results of experimental work in difficult navigation conditions, in the presence of shading, reflections and other factors, are presented. It is shown that the developed navigation module allows in the open space near buildings which partially obscuring the satellite systems signals to obtain accuracy higher than the GNSS navigation equipment. In indoor environment in the absence of satellite navigation signals, the developed module shows positioning accuracy not worse than 1.5 meters and provides a measurement rate 1 Hz and better.

CamNav: a computer-vision indoor navigation system

2021 ◽  
Author(s):  
Abdel Ghani Karkar ◽  
Somaya Al-Maadeed ◽  
Jayakanth Kunhoth ◽  
Ahmed Bouridane
Keyword(s):  
Computer Vision ◽  
Navigation System ◽  
Indoor Navigation ◽  
Indoor Navigation System
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