Voice radio communication, pedestrian localization, and the tactical use of 3D audio

Nilsson, John-Olof; Schüldt, Christian; Händel, Peter

doi:10.1109/ipin.2013.6817918

Cited by 3 publications

(1 citation statement)

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“…The central sensor fusion has been implemented as a separate Android application running on one agent's Android platform. Recently, voice radio communication and 3D audio has been integrated into the localization system [106]. VI.…”

Section: B Real-time Implementationmentioning

confidence: 99%

Cooperative localization by dual foot-mounted inertial sensors and inter-agent ranging

Nilsson

Zachariah

Skog

et al. 2013

EURASIP J. Adv. Signal Process.

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The implementation challenges of cooperative localization by dual foot-mounted inertial sensors and inter-agent ranging are discussed, and work on the subject is reviewed. System architecture and sensor fusion are identified as key challenges. A partially decentralized system architecture based on step-wise inertial navigation and step-wise dead reckoning is presented. This architecture is argued to reduce the computational cost and required communication bandwidth by around two orders of magnitude while only giving negligible information loss in comparison with a naive centralized implementation. This makes a joint global state estimation feasible for up to a platoon-sized group of agents. Furthermore, robust and low-cost sensor fusion for the considered setup, based on state space transformation and marginalization, is presented. The transformation and marginalization are used to give the necessary flexibility for presented sampling-based updates for the inter-agent ranging and ranging free fusion of the two feet of an individual agent. Finally, the characteristics of the suggested implementation are demonstrated with simulations and a real-time system implementation.

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Section: B Real-time Implementationmentioning

confidence: 99%