Pedestrian Dead Reckoning Navigation with the Help of A⁎-Based Routing Graphs in Large Unconstrained Spaces
| العنوان: | Pedestrian Dead Reckoning Navigation with the Help of A⁎-Based Routing Graphs in Large Unconstrained Spaces |
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| المؤلفون: | Alaoui, F. Taia, Betaille, David, Renaudin, Valerie |
| المساهمون: | Géolocalisation (IFSTTAR/COSYS/GEOLOC), PRES Université Nantes Angers Le Mans (UNAM)-Institut Français des Sciences et Technologies des Transports, de l'Aménagement et des Réseaux (IFSTTAR) |
| المصدر: | Wireless Communications and Mobile Computing, Vol 2017 (2017) Wireless Communications and Mobile Computing Wireless Communications and Mobile Computing, Hindawi Publishing Corporation, 2017, 8 p. ⟨10.1155/2017/7951346⟩ |
| بيانات النشر: | Hindawi-Wiley, 2017. |
| سنة النشر: | 2017 |
| مصطلحات موضوعية: | Article Subject, lcsh:T, lcsh:Technology, ITINERARY COMPUTATION, lcsh:Telecommunication, PIETON, LOCALISATION, MEMS, [SPI]Engineering Sciences [physics], lcsh:TK5101-6720, PEDESTRIAN NAVIGATION, NAVIGATION GRAPH, GEOLOCALISATION ET NAVIGATION PAR UN SYSTEME DE SATELLITES - GNSS, CALCUL D'ITINERAIRE |
| الوصف: | An A⁎-based routing graph is proposed to assist PDR indoor and outdoor navigation with handheld devices. Measurements are provided by inertial and magnetic sensors together with a GNSS receiver. The novelty of this work lies in providing a realistic motion support that mitigates the absence of obstacles and enables the calibration of the PDR model even in large spaces where GNSS signal is unavailable. This motion support is exploited for both predicting positions and updating them using a particle filter. The navigation network is used to correct for the gyro drift, to adjust the step length model and to assess heading misalignment between the pedestrian’s walking direction and the pointing direction of the handheld device. Several datasets have been tested and results show that the proposed model ensures a seamless transition between outdoor and indoor environments and improves the positioning accuracy. The drift is almost cancelled thanks to heading correction in contrast with a drift of 8% for the nonaided PDR approach. The mean error of filtered positions ranges from 3 to 5 m. |
| وصف الملف: | text/xhtml |
| اللغة: | English |
| تدمد: | 1530-8677 1530-8669 |
| الوصول الحر: | https://explore.openaire.eu/search/publication?articleId=dedup_wf_001::b8fe26a9d00fe0b196dc5e0bcae12d0cTest https://doaj.org/article/0431a6aae1c14678b44dc5dfe07fdad9Test |
| حقوق: | OPEN |
| رقم الانضمام: | edsair.dedup.wf.001..b8fe26a9d00fe0b196dc5e0bcae12d0c |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 15308677 15308669 |
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