This paper describes the development of a multifloor hybrid inertial/barometric navigation system. The prototype integrates several Magnetic Angular Rate and Gyroscope (MARG) sensors and a barometer. The inertial (MARG) sub-system, by properly processing the signals collected by the MARG sensors placed on the test subject's feet, reconstructs the two-dimensional navigation pattern by applying a Zero velocity UPdaTe (ZUPT) technique. Three different sensors' configurations are investigated in order to find the best performing set-up. A simpler configuration with a single MARG sensor is also considered to derive a reference performance benchmark without multiple MARG sensor fusion. The barometer, connected via usb to a Freakduino board, is used to detect the floor change. The fusion of inertial and barometric signals allows to fully reconstruct the movement of a person in both indoor and outdoor environments. The main goal of the proposed system is to allow accurate personal navigation without any external reference (i.e., radio signals, satellite signals, etc.). Considering a closed path, the relative distance error between the starting point and the final estimated position is below 2.5% of the total traveled distance.

A multifloor hybrid inertial/barometric navigation system / Strozzi, Nicolo'; Parisi, Federico; Ferrari, Gianluigi. - (2016), pp. 1-5. (Intervento presentato al convegno 2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016 tenutosi a Alcala de Henares, esp nel 2016) [10.1109/IPIN.2016.7743703].

A multifloor hybrid inertial/barometric navigation system

STROZZI, NICOLO';PARISI, Federico;FERRARI, Gianluigi
2016-01-01

Abstract

This paper describes the development of a multifloor hybrid inertial/barometric navigation system. The prototype integrates several Magnetic Angular Rate and Gyroscope (MARG) sensors and a barometer. The inertial (MARG) sub-system, by properly processing the signals collected by the MARG sensors placed on the test subject's feet, reconstructs the two-dimensional navigation pattern by applying a Zero velocity UPdaTe (ZUPT) technique. Three different sensors' configurations are investigated in order to find the best performing set-up. A simpler configuration with a single MARG sensor is also considered to derive a reference performance benchmark without multiple MARG sensor fusion. The barometer, connected via usb to a Freakduino board, is used to detect the floor change. The fusion of inertial and barometric signals allows to fully reconstruct the movement of a person in both indoor and outdoor environments. The main goal of the proposed system is to allow accurate personal navigation without any external reference (i.e., radio signals, satellite signals, etc.). Considering a closed path, the relative distance error between the starting point and the final estimated position is below 2.5% of the total traveled distance.
2016
9781509024254
A multifloor hybrid inertial/barometric navigation system / Strozzi, Nicolo'; Parisi, Federico; Ferrari, Gianluigi. - (2016), pp. 1-5. (Intervento presentato al convegno 2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016 tenutosi a Alcala de Henares, esp nel 2016) [10.1109/IPIN.2016.7743703].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11381/2824710
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