Development and Evaluation of a Combined WLAN & Inertial Indoor Pedestrian Positioning System

K. Frank, B. Krach, N. Catterall, P. Robertson

Abstract:	In this paper we have presented an indoor positioning system for pedestrians combiningWireless LAN fingerprinting with foot mounted inertial and magnetometer sensors. To achieve a system capable of real-time processing we have employed a hierarchical Bayesian filtering approach using cascaded extended Kalman filters. The accuracy of the combined system was quantitatively evaluated in a real building against ground-truth. Our results show that accuracy is much higher than using Wireless LAN fingerprinting alone; in our experiment we achieved a positioning error (standard deviation) of roughly 1.6 meters. The approach requires only minimal fingerprinting effort since the high accuracy is achieved by the support of the inertial-based step estimation in the overall estimation process.
Published in:	Proceedings of the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009) September 22 - 25, 2009 Savannah International Convention Center Savannah, GA
Pages:	538 - 546
Cite this article:	Frank, K., Krach, B., Catterall, N., Robertson, P., "Development and Evaluation of a Combined WLAN & Inertial Indoor Pedestrian Positioning System," Proceedings of the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009), Savannah, GA, September 2009, pp. 538-546.
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