Integration of GNSS-receivers with Dual Foot-mounted INS in Urban and Indoor Environments

Jouni Rantakokko, Jonas Nygårds, Peter Strömbäck, Peter Andersson, John-Olof Nilsson, Peter Händel

Abstract:	In safety-critical applications, including firefighter and law enforcement operations, infrastructure-free localization systems are typically required. These systems must provide accurate localization in all scenarios. Seamless indoor and outdoor localization and navigation, including in dense urban environments, are needed. Multi-sensor fusion algorithms constitute an integral part in all state-of-the-art indoor positioning systems. GNSS-receivers typically provide poor estimates of their own position uncertainty in dense urban and indoor environments, where significant position errors can be expected, which makes the design of a robust sensor fusion algorithm a challenge. Sensor fusion strategies for integration of a GNSS-receiver with foot-mounted inertial navigation systems (INS) are described and evaluated in this work. For a loosely coupled integration strategy, we suggest to use a cut-off criteria that governs when to discard the GNSS-positions and demonstrate that it can improve the position and heading accuracy in outdoor/indoor transition regions. Similarly, for a tightly coupled integration strategy, we suggest an approach with heavy-tailed measurement noise and demonstrate its capability to suppress inconsistent data and improve performance in the same regions.
Published in:	Proceedings of IEEE/ION PLANS 2016 April 11 - 14, 2016 Hyatt Regency Hotel Savannah, GA
Pages:	589 - 598
Cite this article:	Rantakokko, Jouni, Nygårds, Jonas, Strömbäck, Peter, Andersson, Peter, Nilsson, John-Olof, Händel, Peter, "Integration of GNSS-receivers with Dual Foot-mounted INS in Urban and Indoor Environments," Proceedings of IEEE/ION PLANS 2016, Savannah, GA, April 2016, pp. 589-598. https://doi.org/10.1109/PLANS.2016.7479750
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