Open Journal Systems

PERSONAL NAVIGATION: EXTENDING MOBILE MAPPING TECHNOLOGIES INTO INDOOR ENVIRONMENTS

D. A. GREJNER-BRZEZINSKA, C. K. TOTH, J. N. MARKIEL, S. MOAFIPOOR, K. CZARNECKA

Abstract


This paper discusses some unconventional methods for indoor-outdoor navigation, based on the integration of self-contained sensors, including GPS, IMU, digital barometer, magnetometer compass, and a human locomotion model. The human
locomotion model is used as navigation  sensor and it is handled by Artificial Intelligence (AI) techniques that form an adaptive knowledge-based system (KBS), which is trained during the GPS signal reception, and is used to support navigation under GPS-denied conditions. A complementary technique used in our solution, which facilitates indoor navigation, is the image-based method (Flash LADAR). In this paper, the system design and an example performance analysis in the mixed indoor-outdoor environment are presented.

Keywords


Multi-sensor Navigation; Dead Reckoning; AI Methods; Human Locomotion Modeling; Image-based Navigation.