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Sensor Fusion for Indoor Navigation



General information

Positioning in buildings and other environments where GNSS reception is difficult will require a combination of sensors and other information such as building plans in order to function accurately. We are pursuing sensor fusion approaches that combine GNSS, foot mounted inertial sensors electronic compasses, baro-altimeters, maps and active RFID tags. A particularly powerful combination is INS step measurement in conjunction with maps which can converge to the correct position after less than a minute of motion. We have developed a two-layer sensor fusion architecture that operates with a Kalman filter where possible, and fuses other sensors and maps at a higher-level, lower rate, particle filter. In buildings, a few dispersed RFID tags or even moderately GNSS reception can significantly aid the overall positioning.

 

 Combining complementary sensors through an optimal sensor fusion algorithm leads to synergetic effects and thus improves positioning.
zum Bild Combining complementary sensors through an optimal sensor fusion algorithm leads to synergetic effects and thus improves positioning.
 
 Two-layer sensor fusion architecture that operates with a Kalman filter for the inertial stride estimation. Other sensors sensors and maps are fused at a higher-level, lower rate, particle filter.
zum Bild Two-layer sensor fusion architecture that operates with a Kalman filter for the inertial stride estimation. Other sensors sensors and maps are fused at a higher-level, lower rate, particle filter.

More Information on Sensor Fusion:

Publications                Slides                     Videos

 


Kontakt
Dr.-Ing. Susanna Kaiser
Deutsches Zentrum für Luft- und Raumfahrt (DLR)

Institut für Kommunikation und Navigation
, Nachrichtensysteme
Oberpfaffenhofen-Wessling

Tel.: +49 8153 28-2862

Fax: +49 8153 28-1871

Artikel zum Thema
FootSLAM, PocketSLAM and Extensions
Mobility Models
Human Activity Recognition with Inertial Sensors
Reference Data Sets for Multisensor Pedestrian Navigation
Multipath Mitigation for GNSS Recievers
External Links
Sequential Monte Carlo Methods Homepage
PLAN Group at the University of Calgary
Oliver Woodman at the University of Cambridge
Verwandte Themen im DLR
Ressourcen der Erde und Fernbeobachtung
Avionik und Flugzeuginstrumente
Elektronik und Elektrotechnik
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