Enhancing Positioning Accuracy in Urban Terrain by Fusing Data from a GPS Receiver, Inertial Sensors, Stereo-Camera and Digital Maps for Pedestrian Navigation.docVIP

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Enhancing Positioning Accuracy in Urban Terrain by Fusing Data from a GPS Receiver, Inertial Sensors, Stereo-Camera and Digital Maps for Pedestrian Navigation.doc

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Enhancing Positioning Accuracy in Urban Terrain by Fusing Data from a GPS Receiver, Inertial Sensors, Stereo-Camera and Digital Maps for Pedestrian Navigation

Sensors2012,12,6764-6801;doi:10.3390/s120606764 OPENACCESS sensors ISSN1424-8220 /journal/sensors Article EnhancingPositioningAccuracyinUrbanTerrainbyFusing DatafromaGPSReceiver,InertialSensors,Stereo-Cameraand DigitalMapsforPedestrianNavigation BaranskiPrzemyslaw andStrumilloPawel ? InstituteofElectronics,TechnicalUniversityofLodz,Wolczanska211/215,90-924Lodz,Poland; E-Mail:pawel.strumillo@p.lodz.pl ? Authortowhomcorrespondenceshouldbeaddressed;E-Mail:przemyslaw.baranski@p.lodz.pl; Tel.:+48-42-631-2685. Received:6March2012;inrevisedform:19April2012/Accepted:29April2012/ Published:25May2012 Abstract: Thepaperpresentsanalgorithmforestimatingapedestrianlocationinanurban environment. Thealgorithmisbasedontheparticle?lterandusesdifferentdatasources:a GPSreceiver,inertialsensors,probabilitymapsandastereocamera.Inertialsensorsareused toestimatearelativedisplacementofapedestrian. Agyroscopeestimatesachangeinthe headingdirection. Anaccelerometerisusedtocountapedestrian’sstepsandtheirlengths. The so-called probability maps help to limit GPS inaccuracy by imposing constraints on pedestriankinematics,e.g.,itisassumedthatapedestriancannotcrossbuildings,fencesetc. Thislimitspositioninaccuracytoca. 10m. Incorporationofdepthestimatesderivedfrom astereocamerathatarecomparedtothe3Dmodelofanenvironmenthasenabledfurther reductionofpositioningerrors. Asaresult, for90%ofthetime, thealgorithmisableto estimateapedestrianlocationwithanerrorsmallerthan2m,comparedtoanerrorof6.5m foranavigationbasedsolelyonGPS. Keywords:particle?ltering;stereovision;digitalmaps;GPS;MonteCarlo;deadreckoning 1. Introduction GPS-NAVSTAR (Global Positioning System-NAVigation Signal Timing And Ranging), popularly knownastheGPSsystem,hasconsiderablygainedincivilianinterests,sinceMay2000. Earlier,the Sensors2012,12 6765 systemwaspracticallyreservedformilitarypurposes. Thepositioningaccuracyfortheciviliansector wasca. 100mduetoanintentionalerror, calledSelectiveAvailability. Accordingto