A modular and mobile system for indoor localization

摘要

The work presents a system for sensor data and complementary information fusion for localization in indoor environments. The system is based on modular sensor units, which can be attached to a person and contains various sensors, such as range sensors, inertial and magnetic sensors, a GPS receiver and a barometer. The measurements are processed using Bayesian Recursive Estimation algorithms and combined with available a priori knowledge such as map information or human motion models and constraints. The processing can be done locally, since all necessary data are available on the mobile unit. This system provides a platform for implementation, combination and evaluation of various localization principles and can be used for a variety of applications, such as indoor and outdoor pedestrian navigation, localization of other objects such as vehicles as well as robotics applications.