Pedestrian Dead Reckoning Navigation with the Help of A* -Based Routing Graphs in Large Unconstrained Spaces - Archive ouverte HAL
Article Dans Une Revue Wireless Communications and Mobile Computing Année : 2017

Pedestrian Dead Reckoning Navigation with the Help of A* -Based Routing Graphs in Large Unconstrained Spaces

David Betaille
  • Fonction : Auteur
Valerie Renaudin

Résumé

An A*-based routing graph is proposed to assist PDR indoor and outdoor navigation with handheld devices. Measurements are provided by inertial and magnetic sensors together with a GNSS receiver. The novelty of this work lies in providing a realistic motion support that mitigates the absence of obstacles and enables the calibration of the PDR model even in large spaces where GNSS signal is unavailable. This motion support is exploited for both predicting positions and updating them using a particle filter. The navigation network is used to correct for the gyro drift, to adjust the step length model and to assess heading misalignment between the pedestrian's walking direction and the pointing direction of the handheld device. Several datasets have been tested and results show that the proposed model ensures a seamless transition between outdoor and indoor environments and improves the positioning accuracy. The drift is almost cancelled thanks to heading correction in contrast with a drift of 8% for the nonaided PDR approach. The mean error of filtered positions ranges from 3 to 5 m.
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Dates et versions

hal-01627862 , version 1 (02-11-2017)

Identifiants

Citer

Fadoua Taia Alaoui, David Betaille, Valerie Renaudin. Pedestrian Dead Reckoning Navigation with the Help of A* -Based Routing Graphs in Large Unconstrained Spaces. Wireless Communications and Mobile Computing, 2017, 2017, 8 p. ⟨10.1155/2017/7951346⟩. ⟨hal-01627862⟩
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