Abstract:

The satellite navigation signal is barely available due to the obscuration indoors. In that condition, the inertial-based system is an effective replacement for pedestrian navigation and has a wide range of applications, such as fire-fighting, special-operation and anti-terrorism. To suppress the drift in inertialbased pedestrian navigation, many different types of aiding knowledge are adopted. An improved map-aided pedestrian navigation method is proposed under a particle filter framework. In the method, particles are weighted according to the direction information incorporated in the maps, and the location robustness is enhanced by recovering from location failure when partially wrong map information appeared. Based on the author-developed system, several experiments are conducted. The results manifest that the new method can maintain an accuracy of 1 meter as time increases, which is a great improvement on the traditional method.