A Comparison of Particle Propagation and Weight Update Methods for Indoor Positioning Systems

Tanner N. Ray, J. Dan Pierce, and David M. Bevly

Peer Reviewed

Abstract:	This work is a comparison of Particle Filters (PFs) in the field of indoor positioning, that use different types of particle propagation and weight update methods. The PFs fuse standalone pedestrian dead-reckoning (PDR) and building maps to perform accurate pedestrian localization. This work proposes a new weight update method based upon the weaknesses of the current PF methods in certain situations. The situations of interest are when map only constrains the single side of the particle cloud. This occurs when a pedestrian moves along a wall in a wide corridor, or in a room where the outer wall is the only feature constraining the pedestrian’s motion. Current PF weight update methods shift the mean of the particle distribution away from the wall towards open space. This produces an undesired estimate that introduces drift into the position solution. The proposed method seeks to reduce this error to improve the navigation solution. A detailed performance evaluation of existing and new methods is presented using experimental data.
Published in:	Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018) September 24 - 28, 2018 Hyatt Regency Miami Miami, Florida
Pages:	3398 - 3408
Cite this article:	Ray, Tanner N., Pierce, J. Dan, Bevly, David M., "A Comparison of Particle Propagation and Weight Update Methods for Indoor Positioning Systems," Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018), Miami, Florida, September 2018, pp. 3398-3408. https://doi.org/10.33012/2018.16075
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