Tuyển tập báo cáo các nghiên cứu khoa học quốc tế ngành hóa học dành cho các bạn yêu hóa học tham khảo đề tài: Advanced Integration of WiFi and Inertial Navigation Systems for Indoor Mobile Positioning | Hindawi Publishing Corporation EURASIP Journal on Applied Signal Processing Volume 2006 Article ID 86706 Pages 1-11 DOI ASP 2006 86706 Advanced Integration of WiFi and Inertial Navigation Systems for Indoor Mobile Positioning Frederic Evennou and Francois Marx Division R D TECH IDEA France Telecom 38243 Meylan France Received 23 June 2005 Revised 23 January 2006 Accepted 29 January 2006 This paper presents an aided dead-reckoning navigation structure and signal processing algorithms for self localization of an autonomous mobile device by fusing pedestrian dead reckoning and WiFi signal strength measurements. WiFi and inertial navigation systems INS are used for positioning and attitude determination in a wide range of applications. Over the last few years a number of low-cost inertial sensors have become available. Although they exhibit large errors WiFi measurements can be used to correct the drift weakening the navigation based on this technology. On the other hand INS sensors can interact with the WiFi positioning system as they provide high-accuracy real-time navigation. A structure based on a Kalman filter and a particle filter is proposed. It fuses the heterogeneous information coming from those two independent technologies. Finally the benefits of the proposed architecture are evaluated and compared with the pure WiFi and INS positioning systems. Copyright 2006 Hindawi Publishing Corporation. All rights reserved. 1. INTRODUCTION Mobile positioning becomes of increasing interest for the wireless telecom operators. Indeed many applications require an accurate location information of the mobile context-aware application emergency situation etc. . While many outdoor solutions exist based on GPS AGPS in indoor environments the received signals are too weak to provide an accurate location using those technologies. Currently given that many buildings are equipped with WLAN access points shopping malls museums hospitals airports etc. it may become practical
