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Annual of Navigation

The Journal of Polish Navigational Forum

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Indoor Navigation Using Particle Filter and Sensor Fusion

Lukas Köping / Thomas Mühsam / Christian Ofenberg / Bernhard Czech / Michael Bernard / Jens Schmer / Frank Deinzer
Published Online: 2013-07-27 | DOI: https://doi.org/10.2478/v10367-012-0016-6


In this paper we present an indoor localization system based on particle filter and multiple sensor data like acceleration, angular velocity and compass data. With this approach we tackle the problem of documentation on large building yards during the construction phase. Due to the circumstances of such an environment we cannot rely on any data from GPS, Wi-Fi or RFID. Moreover this work should serve us as a first step towards an all-in-one navigation system for mobile devices. Our experimental results show that we can achieve high accuracy in position estimation.

Keywords: indor navigation; particle filter; sensor fusion; mobile devices

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About the article

Published Online: 2013-07-27

Published in Print: 2012-12-01

Citation Information: Annual of Navigation, Volume 19, Issue 2, Pages 31–40, ISSN (Online) 1640-8632, DOI: https://doi.org/10.2478/v10367-012-0016-6.

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