Scenario-based Evaluations of High-accuracy Personal Positioning Systems

J. Rantakokko, E. Emilsson, P. Stromback J. Rydell

Abstract:	Foot-mounted inertial sensors combined with GPS-receivers, magnetometers, and barometric pressure sensors have shown great potential in providing high-accuracy positioning systems for first responder and military applications. Several factors, including the type of movement, surface, and the shape of the trajectory, can strongly influence the performance of foot-mounted inertial navigation systems. There is a need for realistic scenario-based evaluations as a complement to the controlled environment tests that have been published in the literature. In this work we evaluate the performance of a foot-mounted inertial navigation system using three-axis accelerometers, gyroscopes and magnetometers during realistic scenario-based measurements. The position accuracy is evaluated by using a camera-based reference system which positions itself towards visual markers placed at pre-surveyed positions, using a slightly modified version of the ARToolKitPlus software. Maximum position errors of 2.5 to 5.5 meters were obtained during four separate high-tempo building clearing operations that lasted approximately three and a half minutes each. Further improvements in accuracy, as well as improved robustness towards different movement patterns, can be achieved by implementing an adaptive stand-still detection algorithm.
Published in:	Proceedings of IEEE/ION PLANS 2012 April 24 - 26, 2012 Myrtle Beach Marriott Resort & Spa Myrtle Beach, South Carolina
Pages:	106 - 112
Cite this article:	Rantakokko, J., Emilsson, E., Rydell, P. Stromback J., "Scenario-based Evaluations of High-accuracy Personal Positioning Systems," Proceedings of IEEE/ION PLANS 2012, Myrtle Beach, South Carolina , April 2012, pp. 106-112. https://doi.org/10.1109/PLANS.2012.6236871
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