A Peer-to-Peer Kalman Filter for Pedestrian Navigation

I. Kramer, B. Eissfeller

Abstract:	Almost 30% of all mobile phones that are and will be sold between 2009 and 2011 have an integrated GPS chip [1]. This indicates an intensive change in the use of civilian navigation. People are not only interested in car navigation but also in pedestrian navigation in urban areas and of course in buildings. To solve the problems occurring in weak-signal-areas different approaches exist. But these mostly ask for accurately surveyed area (e.g. WLAN fingerprint), for additional equipment (e.g. sensors) or costly data transmission (A-GNSS, assisted Global Navigation Satellite System). The here introduced approach avoids these drawbacks and uses peer-to-peer communication to estimate a position. A position solution can be calculated by a portable device using GNSS at so called reference points. These are areas where a satellite signal can be acquired (e.g. doors or windows). The devices estimate their position using dead reckoning when no satellite signals are available. When two devices come into communication reach of each other they try to improve their position by using a Kalman Filter. A simulation will demonstrate the functionality of this model and verifies if the position accuracy improves when allowing Kalman Filtering between two users’ devices and by what amount. The results of the simulation are carefully evaluated by varying the processing parameters especially regarding the amount of walkers and the size of the indoor area.
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:	2043 - 2053
Cite this article:	Kramer, I., Eissfeller, B., "A Peer-to-Peer Kalman Filter for Pedestrian Navigation," Proceedings of the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009), Savannah, GA, September 2009, pp. 2043-2053.
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