In this paper, an integration approach (IA) and parametric approach (PA) fusion-based pedestrian dead reckoning (PDR) using low-cost inertial sensors is proposed to improve the indoor position estimation. When moving indoors using a smartphone, various poses such as texting and putting a pocket are possible. In the existing PA-based positioning algorithms, it can be used only when the pedestrian's walking direction and the device's direction coincide. In order to solve the problem, this paper proposes an algorithm that constructs state variables based on the IA and uses the position vector from the PA as a measurement. If the walking direction and the device heading do not match based on the poses, the position is updated according to the direction calculated using principal component analysis (PCA) and the step length obtained from the PA. Through experiments considering various operating conditions and paths, it shows that the proposed method stably estimates the position and improves performance even in various indoor environments with the accuracy of 2.13m for Xsens MTw 2.49m for Smartphone.INDEX TERMS Indoor navigation, pedestrian dead reckoning (PDR), extended Kalman filter (EKF), integration approach (IA)-parametric approach (PA) fusion method.
In this study a multi-level path planning system is proposed for indoor search and rescue operations. Requirements for the path planning system are derived based on the operational concept of the integrated indoor navigation system. Different aspects of various path planning algorithms are assessed, and their suitability to search and rescue operations in structured indoor environments is investigated. A fivestep path planning system is proposed, which consists of map pre-processing, segment path planning, graph processing, route optimization, and path post-processing. The proposed method addresses a multi-goal path planning problem in a multi-story building in a computationally efficient way by adopting a graph-based approach while satisfying such requirements as clearance conditions in the pre-and post-processing steps. Furthermore, a multi-query approach is adopted to exploit the response time and earn flexibility with respect to environmental changes. The effectiveness of the proposed path planning system is demonstrated through numerical simulations.INDEX TERMS Path planning, indoor navigation, path optimization, linear programming, dynamic environment.
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