Multi Sensor Pedestrian Navigation System for Indoor and Outdoor Environments

2019 DGON Inertial Sensors and Systems (ISS) Pub Date : 2019-09-01 DOI:10.1109/iss46986.2019.8943692

N. Kronenwett, G. Trommer

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引用次数: 3

Abstract

This paper presents a real-time multi sensor localization system for pedestrians. The system can be separated into a foot-mounted multi sensor platform for robust and precise localization in indoor and outdoor environments and a hand-held device with the same sensor platform and an additional RGB-D camera for mapping purposes. The foot-mounted module is based on an accurate relative inertial positioning system with high precise Zero-velocity-UPdaTes (ZUPTs) motivated on medical research. GNSS, barometric air pressure and OpenStreetMap information is fused to obtain accurate absolute position and orientation estimations. This system can cope with very challenging situations including multiple outdoor-indoor transitions, elevators and escalators. For the hand-held device a barometric altimeter supported Visual Inertial Simultaneous Localization and Mapping (VISLAM) approach is developed. Separate measurements for translational and rotational movement are generated from RGB-D images. The translation measurements are estimated by a visual inertial odometry approach which enables loop closures. The rotation is calculated by a novel visual inertial compass, which robustly integrates the inertial sensor information. Tests show that both modules generate high accurate trajectories with small errors.

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室内外多传感器行人导航系统

提出了一种行人实时多传感器定位系统。该系统可以分为两个部分，一个是脚底式多传感器平台，用于在室内和室外环境中进行稳健和精确的定位;另一个是手持设备，具有相同的传感器平台和一个额外的RGB-D相机，用于测绘。脚底安装的模块基于精确的相对惯性定位系统，具有高精度的零速度更新(zupt)，这是医学研究的动力。GNSS、大气压力和OpenStreetMap信息融合在一起，获得精确的绝对位置和方向估计。该系统可以应对非常具有挑战性的情况，包括多个室外室内过渡，电梯和自动扶梯。对于手持设备，开发了一种支持视觉惯性同步定位和映射(VISLAM)的气压高度计方法。平移和旋转运动的单独测量由RGB-D图像生成。平移测量是通过视觉惯性里程计方法估计的，该方法可以实现闭环。利用一种新的视觉惯性罗经计算旋转，该罗经鲁棒地集成了惯性传感器信息。实验结果表明，两种模块都能生成精度高、误差小的轨迹。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2019 DGON Inertial Sensors and Systems (ISS)

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