TY - GEN
T1 - INS and GNSS fusion enhancement based on a weighted reliabilities approach
AU - Patarot, Alexandre
AU - Boukallel, Mehdi
AU - Lamy-Perbal, Sylvie
AU - Vervisch-Picois, Alexandre
AU - Samama, Nel
PY - 2012/1/1
Y1 - 2012/1/1
N2 - The maturity of outdoor positioning systems based on satellites encourages indoor positioning research to focus on radio technologies. However, specific infrastructures often have to be deployed in this case. Then, inertial sensors appear to be a good relay to radio systems. A system fusing INS and GNSS could thereby compute a position anywhere. Yet, taking advantage of each sensor requires to know which one is the most reliable in real-time. Therefore, a quantification of the sensors' reliabity is introduced in this paper. This approach aims at running both outdoors and indoors. Moreover, the complexity of algorithms is carefully studied here to fit the user mobility requirements. Experiments are conducted in reproducible situations and results show that taking reliabilities into account benefits the hybridization of INS and GNSS for positioning in both convenient and constrained environments.
AB - The maturity of outdoor positioning systems based on satellites encourages indoor positioning research to focus on radio technologies. However, specific infrastructures often have to be deployed in this case. Then, inertial sensors appear to be a good relay to radio systems. A system fusing INS and GNSS could thereby compute a position anywhere. Yet, taking advantage of each sensor requires to know which one is the most reliable in real-time. Therefore, a quantification of the sensors' reliabity is introduced in this paper. This approach aims at running both outdoors and indoors. Moreover, the complexity of algorithms is carefully studied here to fit the user mobility requirements. Experiments are conducted in reproducible situations and results show that taking reliabilities into account benefits the hybridization of INS and GNSS for positioning in both convenient and constrained environments.
KW - Hybrid positioning
KW - INS (Inertial Navigation System) and GNSS (Global Navigation Satellite System) Fusion
KW - Pedestrian Navigation
KW - Weighted Reliabilities
UR - https://www.scopus.com/pages/publications/84874224516
U2 - 10.1109/IPIN.2012.6418908
DO - 10.1109/IPIN.2012.6418908
M3 - Conference contribution
AN - SCOPUS:84874224516
SN - 9781467319546
T3 - 2012 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2012 - Conference Proceedings
BT - 2012 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2012 - Conference Proceedings
PB - IEEE Computer Society
T2 - 2012 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2012
Y2 - 13 November 2012 through 15 November 2012
ER -