Abstract
Pedestrian navigation in outdoor environments where global navigation satellite systems (GNSS) are unavailable is a challenging problem. Existing technologies that have attempted to address this problem often require external reference signals or specialized hardware, the extra size, weight, power, and cost of which are unsuitable for many applications. This article presents a real-time, self-contained outdoor navigation application that uses only the existing sensors on a smartphone in conjunction with a preloaded digital elevation map. The core algorithm implements a particle filter, which fuses sensor data with a stochastic pedestrian motion model to predict the user’s position. The smartphone’s barometric elevation is then compared with the elevation map to constrain the position estimate. The system developed for this research was deployed on Android smartphones and tested in several terrains using a variety of elevation data sources. The results from these experiments show the system achieves positioning accuracies in the tens of meters that do not grow as a function of time.
Highlights
The Global Positioning System (GPS) and other global navigation satellite systems (GNSS) offer unmatched accuracy for outdoor positioning, navigation, and timing (PNT) applications
GNSS are inherently limited to environments with a clear view of the sky and areas that are free of large obstacles that attenuate satellite signals or cause multi-path interference
VDTM0.5, OSIP2, USGS10, and USGS30, which showed significant reductions in error compared to the dead reckoning (DR) case
Summary
The Global Positioning System (GPS) and other global navigation satellite systems (GNSS) offer unmatched accuracy for outdoor positioning, navigation, and timing (PNT) applications. The world’s reliance on GNSS has grown significantly in the past decade. GNSS are inherently limited to environments with a clear view of the sky and areas that are free of large obstacles that attenuate satellite signals or cause multi-path interference. GNSS are susceptible to both intentional and unintentional interference which can prevent reliable navigation with these systems within affected areas. The inability to navigate in areas where GNSS are either unreliable or unavailable can have severe consequences for many users [2]. It is of significant interest to develop technologies that provide reliable navigation where GNSS performance is denied or degraded
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