Accurate Pedestrian Indoor Navigation by Tightly Coupling Foot-Mounted IMU and RFID Measurements

The authors present a new method to accurately locate persons indoors by fusing Inertial Navigation System (INS) techniques with active RFID technology. A foot-mounted Inertial Measuring Units (IMUs)-based position estimation method, is aided by the Received Signal Strengths (RSSs) obtained from several active RFID tags placed at known locations in a building. In contrast to other authors that integrate IMUs and RSS with a loose Kalman Filter (KF)-based coupling (by using the residuals of inertial- and RSS-calculated positions), they present a tight KF-based INS/RFID integration, using the residuals between the INS-predicted reader-to-tag ranges and the ranges derived from a generic RSS path-loss model.

Provided by: Institute of Electrical & Electronic Engineers Topic: Mobility Date Added: Jan 2012 Format: PDF

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