Multi-Sensor Fusion for Localization Concept and Simulation Results

D. Kubrak, F. Le Gland, L. He, Y. Oster

Abstract:	This paper presents the simulation results of a hybrid positioning system based on a pedestrian navigation system that takes advantage of very few measurements of different types as well as map constraints. The data fusion is achieved at infrastructure and user level. Particle and extended Kalman filters are implemented and tested against different beacon density scenarios. Results show that metric accuracy (below 3 meters) is achievable in structured areas of low beacons and WiFi AP density.
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:	767 - 777
Cite this article:	Kubrak, D., Le Gland, F., He, L., Oster, Y., "Multi-Sensor Fusion for Localization Concept and Simulation Results," Proceedings of the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009), Savannah, GA, September 2009, pp. 767-777.
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