Correcting Inertial Dead Reckoning Location Using Collision Avoidance Velocity-Based Map Matching
Abstract
:Featured Application
Abstract
1. Introduction
2. Materials and Methods
2.1. Foot-Mounted Inertial Navigation System
Algorithm 1 Pseudocode for the inertial positioning system with zero-velocity updates and collision avoidance velocity map matching. |
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2.2. Collision Avoidance Velocity
3. Results
3.1. Instrumentation
3.2. Experimental Setup
3.3. Experimental Results
4. Discussion and Conclusions
Author Contributions
Funding
Acknowledgments
Conflicts of Interest
Abbreviations
BLE | Bluetooth Low Energy |
CAD | Computer Aided Design |
CHAIN | Cardinal Heading Aided Inertial Navigation |
DAU | Data Acquisition Unit |
DR | Dead Reckoning |
GCS | Global coordinate system |
GNSS | Global Navigation Satellite System |
GPS | Global Positioning System |
INS | Inertial Navigation System |
IPSN | International Conference on Information Processing in Sensor Networks |
LCS | Local coordinate system |
MEMS | Micro Electro Mechanical Sensor |
RSSI | Received Signal Strength Indicator |
MAPN | Map-Aided Pedestrian/Individual Navigation |
ORCA | Optimal Reciprocal Collision Avoidance |
RMSE | Root Mean Squared Error |
ToF | Time-of-Flight |
UWB | Ultra Wide Band |
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Trial No. 1 | |||
---|---|---|---|
Step | Real Position [m] | INS Position [m] | Error [m] |
0 | (5.12, 8.40) | (5.11, 8.39) | 0.01 |
6 | (12.27, 8.40) | (13.84, 8.14) | 1.59 |
12 | (20.90, 8.40) | (20.53, 8.27) | 0.39 |
17 | (25.90, 8.40) | (26.76, 8.04) | 0.93 |
21 | (31.60, 8.40) | (30.77, 8.02) | 0.91 |
26 | (35.85, 8.40) | (31.28, 7.19) | 4.73 |
30 | (31.60, 8.40) | (27.24, 7.39) | 4.48 |
34 | (25.90, 8.40) | (23.37, 7.63) | 2.64 |
40 | (20.90, 8.40) | (15.66, 8.17) | 5.25 |
46 | (12.27, 8.40) | (9.03, 8.48) | 3.24 |
51 | (5.12, 8.40) | (4.32, 8.77) | 0.88 |
Test | INS | Map Matching Algorithm |
---|---|---|
Test I | 3.63 [m] | 3.01 [m] |
Test II | 3.26 [m] | 0.73 [m] |
Test III | 5.59 [m] | 1.15 [m] |
Average | 4.16 [m] | 1.63 [m] |
Test | INS | Map Matching Algorithm |
---|---|---|
Test I | 4.16 [m] | 3.71 [m] |
Test II | 3.89 [m] | 2.12 [m] |
Test III | 7.06 [m] | 2.15 [m] |
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Krasuski, A.; Meina, M. Correcting Inertial Dead Reckoning Location Using Collision Avoidance Velocity-Based Map Matching. Appl. Sci. 2018, 8, 1830. https://doi.org/10.3390/app8101830
Krasuski A, Meina M. Correcting Inertial Dead Reckoning Location Using Collision Avoidance Velocity-Based Map Matching. Applied Sciences. 2018; 8(10):1830. https://doi.org/10.3390/app8101830
Chicago/Turabian StyleKrasuski, Adam, and Michał Meina. 2018. "Correcting Inertial Dead Reckoning Location Using Collision Avoidance Velocity-Based Map Matching" Applied Sciences 8, no. 10: 1830. https://doi.org/10.3390/app8101830