Projects per year
Abstract
A reliable underground navigation system for task forces in emergency scenarios increases safety and effectiveness. Since smoke, explosions or disturbed power supply complicate the operations belowground, the correct visualization of the task forces’ positions has become a key element in obtaining a successful outcome. A foot-mounted inertial navigation system provides an autonomous way to navigate in Global Navigation Satellite Systems (GNSS)-denied environments. The additional use of maps and absolute positioning methods (Wi-Fi Round Trip Time (RTT), Ultra-Wideband (UWB), ...) represent one way to build a robust navigation system for emergency operations underground. This study proposes a sensor fusion concept to combine a foot-mounted inertial navigation system (INS) with distance measurements and map information. However, the main emphasis in this paper is on the implementation of a foot-mounted INS. Therefore, a Zero-Velocity-Aided Error-State (Extended) Kalman Filter is utilized. The filter is based on the mechanization equation that expresses the position in the earth-fixed frame, the velocity in the local-level frame and the attitude in the body frame. The performance analysis of the foot-mounted INS as a single system showed that a stable position solution over several hundred meters could be achieved.
Original language | English |
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Number of pages | 14 |
Journal | CEUR Workshop Proceedings |
Volume | 3097 |
Publication status | Published - 1 Mar 2022 |
Keywords
- Kalman filtering
- relative positioning
- foot-mounted IMU
- Pedestrian
- dead reckoning
ASJC Scopus subject areas
- Software
- Applied Mathematics
Fields of Expertise
- Information, Communication & Computing
Fingerprint
Dive into the research topics of 'Foot-Mounted Inertial Navigation - Implementation and Fusion Concept into a Bayesian Filtering Framework'. Together they form a unique fingerprint.Projects
- 1 Finished
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NIKE BLUETRACK - Sustainable interdisciplinarity in complex underground operations / BLUE Force TRACKing
1/09/20 → 31/08/22
Project: Research project
Activities
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Foot-Mounted Inertial Navigation - Implementation and Fusion Concept into a Bayesian Filtering Framework
Karin Mascher (Speaker)
30 Nov 2021Activity: Talk or presentation › Talk at conference or symposium › Science to science
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11th International Conference on Indoor Positioning and Indoor Navigation
Karin Mascher (Participant)
29 Nov 2021 → 2 Dec 2021Activity: Participation in or organisation of › Conference or symposium (Participation in/Organisation of)