Simplified Pedestrian Tracking Filters with Positioning and Foot-Mounted Inertial Sensors
Pedestrian tracking is one of the bases for many ubiquitous context-aware services, but it is still an open issue in indoor environments or when GPS estimations are not optimal. In this paper, we propose two novel different data fusion algorithms to track a pedestrian using current positioning techn...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi - SAGE Publishing
2014-09-01
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| Series: | International Journal of Distributed Sensor Networks |
| Online Access: | https://doi.org/10.1155/2014/850835 |
| _version_ | 1797724900488642560 |
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| author | Henar Martin Juan A. Besada Ana M. Bernardos Eduardo Metola José R. Casar |
| author_facet | Henar Martin Juan A. Besada Ana M. Bernardos Eduardo Metola José R. Casar |
| author_sort | Henar Martin |
| collection | DOAJ |
| description | Pedestrian tracking is one of the bases for many ubiquitous context-aware services, but it is still an open issue in indoor environments or when GPS estimations are not optimal. In this paper, we propose two novel different data fusion algorithms to track a pedestrian using current positioning technologies (i.e., GPS, received signal strength localization from Wi-Fi or Bluetooth networks, etc.) and low cost inertial sensors. In particular, the algorithms rely, respectively, on an extended Kalman filter (EKF) and a simplified complementary Kalman filter (KF). Both approaches have been tested with real data, showing clear accuracy improvement with respect to raw positioning data, with much reduced computational cost with respect to previous high performance solutions in literature. The fusion of both inputs is done in a loosely coupled way, so the system can adapt to the infrastructure that is available at a specific moment, delivering both outdoors and indoors solutions. |
| first_indexed | 2024-03-12T10:23:34Z |
| format | Article |
| id | doaj.art-432f2db9e450478c98266aa7ff16655d |
| institution | Directory Open Access Journal |
| issn | 1550-1477 |
| language | English |
| last_indexed | 2024-03-12T10:23:34Z |
| publishDate | 2014-09-01 |
| publisher | Hindawi - SAGE Publishing |
| record_format | Article |
| series | International Journal of Distributed Sensor Networks |
| spelling | doaj.art-432f2db9e450478c98266aa7ff16655d2023-09-02T09:57:06ZengHindawi - SAGE PublishingInternational Journal of Distributed Sensor Networks1550-14772014-09-011010.1155/2014/850835850835Simplified Pedestrian Tracking Filters with Positioning and Foot-Mounted Inertial SensorsHenar MartinJuan A. BesadaAna M. BernardosEduardo MetolaJosé R. CasarPedestrian tracking is one of the bases for many ubiquitous context-aware services, but it is still an open issue in indoor environments or when GPS estimations are not optimal. In this paper, we propose two novel different data fusion algorithms to track a pedestrian using current positioning technologies (i.e., GPS, received signal strength localization from Wi-Fi or Bluetooth networks, etc.) and low cost inertial sensors. In particular, the algorithms rely, respectively, on an extended Kalman filter (EKF) and a simplified complementary Kalman filter (KF). Both approaches have been tested with real data, showing clear accuracy improvement with respect to raw positioning data, with much reduced computational cost with respect to previous high performance solutions in literature. The fusion of both inputs is done in a loosely coupled way, so the system can adapt to the infrastructure that is available at a specific moment, delivering both outdoors and indoors solutions.https://doi.org/10.1155/2014/850835 |
| spellingShingle | Henar Martin Juan A. Besada Ana M. Bernardos Eduardo Metola José R. Casar Simplified Pedestrian Tracking Filters with Positioning and Foot-Mounted Inertial Sensors International Journal of Distributed Sensor Networks |
| title | Simplified Pedestrian Tracking Filters with Positioning and Foot-Mounted Inertial Sensors |
| title_full | Simplified Pedestrian Tracking Filters with Positioning and Foot-Mounted Inertial Sensors |
| title_fullStr | Simplified Pedestrian Tracking Filters with Positioning and Foot-Mounted Inertial Sensors |
| title_full_unstemmed | Simplified Pedestrian Tracking Filters with Positioning and Foot-Mounted Inertial Sensors |
| title_short | Simplified Pedestrian Tracking Filters with Positioning and Foot-Mounted Inertial Sensors |
| title_sort | simplified pedestrian tracking filters with positioning and foot mounted inertial sensors |
| url | https://doi.org/10.1155/2014/850835 |
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