This paper provides an overview of the most significant existing methods for indoor positioning on a contemporary smartphone. The approaches include Wi-Fi and Bluetooth based positioning, magnetic field fingerprinting, map aided navigation using building floor plans, aiding from self-contained sensors. considered in this survey are fingerprint that determine user's position database radio signal strength measurements were collected earlier at known locations. Magnetic fingerprinting can be...

The problem of bearings-only target localization is to estimate the location a fixed from sequence noisy bearing measurements. Although, in theory, this process observable even without an observer maneuver, estimation performance (i.e., accuracy, stability and convergence rate) can be greatly enhanced by properly exploiting motion increase observability. This work addresses optimization trajectories for fixed-target localization. approach presented herein based on maximizing determinant...

Accurate position information is nowadays very important in many applications. For instance, maintaining the situation awareness command center emergency operations crucial. Due to signal strength attenuation and multipath, Global Navigation Satellite Systems are not suitable for indoor navigation purposes. Radio network-based positioning techniques, such as wireless local area network, require infrastructure that often vulnerable situations. We propose here a distributed system personal...

This paper presents a numerical approach to the pedestrian map-matching problem using building plans. The proposed solution is based on sequential Monte Carlo method, so called particle filtering. algorithm can be adapted for implementation real-time navigation systems low-cost MEMS gyroscopes and accelerometers as dead-reckoning sensors. reliability accuracy performance was investigated simulated data typical pedestrians walking inside building. results show that this map-aided dead...

This paper describes a single body-mounted sensor that integrates accelerometers, gyroscopes, compasses, barometers, GPS receiver, and methodology to process the data for biomechanical studies. The its processing system can accurately compute speed, acceleration, angular velocity, orientation at an output rate of 400 Hz has ability collect large volumes ecologically-valid data. also segments steps computes metrics each step. We analyzed sensitivity these changing start time gait cycle. Along...

Binocular disparity and motion parallax are the most important cues for depth estimation in human computer vision. Here, we present an experimental study to evaluate accuracy of these two stationary objects a static environment. Depth via binocular is commonly implemented using stereo vision, which uses images from or more cameras triangulate estimate distances. We use commercial camera mounted on wheeled robot create map The sequence obtained by one as well parameters serve input our...

Vertical ground reaction force (vGRF) can be measured by plates or instrumented treadmills, but their application is limited to indoor environments. Insoles remove this restriction suffer from low durability (several hundred hours). Therefore, interest in the indirect estimation of vGRF using inertial measurement units and machine learning techniques has increased. This paper presents a methodology for indirectly estimating other features used gait analysis measurements wearable GPS-aided...

Oxygen uptake (V˙O2) is an important metric in any exercise test including walking and running. It can be measured using portable spirometers or metabolic analyzers. Those devices are, however, not suitable for constant use by consumers due to their costs, difficulty of operation intervening the physical integrity users. Therefore, it develop approaches indirect estimation V˙O2-based measurements motion parameters, heart rate data application-specific from consumer-grade sensors. Typically,...

This paper presents the development of car navigation system for portable devices and telematics applications. The objective was to develop a that can provide uninterrupted reliable even when GPS signals are not available. approach uses digital maps, 3D accelerometer one gyro directional measurements improve positioning availability reliability in weak signal environment during short outages. does require vehicle installation be easily transferred between vehicles. Loosely coupled extended...

This paper presents the development of a land vehicle navigation system that provides accurate and uninterrupted positioning. Ground speed Doppler radar one MEMS gyroscope are used to augment differential GPS (DGPS) provide during DGPS outages. Using has advantages easy assembling lowcost maintenance compared wheel encoders. The gyro calibrated when is available. Loosely coupled Kalman filter gives optimally tuned solution. Field tests were carried out evaluate performance system. results...

In this paper, an EKF (Extended Kalman Filter)-based algorithm is proposed to estimate 3D position and velocity components of different cars in a scene by fusing the semantic information car model, extracted from successive frames with camera motion parameters. First, 2D virtual image made using prior knowledge Computer Aided Design (CAD) models detected their predicted positions. Then, discrepancy, i.e., distance, between actual calculated. The are recursively estimated minimizing...

We propose a method to estimate the distance objects based on complementary nature of monocular image sequences and camera kinematic parameters. The fusion measurements with kinematics parameters that are measured by an IMU odometer is performed using extended Kalman filter. Results field experiments wheeled robot corroborated results simulation study in terms accuracy depth estimation. performance approach estimation strongly affected mutual observer feature point geometry, measurement...

This paper presents the development of a land vehicle navigation system that provides accurate and uninterrupted positioning. A ground speed Doppler radar one MEMS gyroscope are used to augment differential GPS (DGPS) provide during outages. The goal is maintain position accuracy 2 meters or better for 15 seconds when an solution not available. gyro calibrated DGPS available, loosely coupled Kalman filter gives optimally tuned solution. Field tests were carried out in harbor environment...

INS and GNSS integrated systems have become widespread as a result of low-cost MEMS inertial sensor technology. However, the accuracy computed velocity orientation is not sufficient for some applications, e.g. performance technique monitoring evaluation in sports. Significant improvements can be made by post-mission data processing. The approach based on fixed-lag Rauch-Tung-Striebel smoothing algorithm provides simple effective solution to misalignment correction. potential about 0.02 m/s...