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Multi―sensor fusion for localization. Concept and simulation results

Damien Kubrak 1 François Le Gland 2 Liyun He 2 Yann Oster 1
2 ASPI - Applications of interacting particle systems to statistics
UR1 - Université de Rennes 1, Inria Rennes – Bretagne Atlantique , CNRS - Centre National de la Recherche Scientifique : UMR6074
Abstract : This paper presents the simulation results of a hybrid positioning system based on a pedestrian navigation system that takes advantage of very few measurements of different types as well as map constraints. The data fusion is achieved at infrastructure and user level. Particle and extended Kalman filters are implemented and tested against different beacon density scenarios. Results show that metric accuracy (below 3 meters) is achievable in structured areas of low beacons and WiFi AP density.
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https://hal.inria.fr/hal-00912064
Contributor : Francois Le Gland <>
Submitted on : Monday, December 2, 2013 - 12:31:47 AM
Last modification on : Wednesday, May 16, 2018 - 11:23:02 AM

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  • HAL Id : hal-00912064, version 1

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Damien Kubrak, François Le Gland, Liyun He, Yann Oster. Multi―sensor fusion for localization. Concept and simulation results. Proceedings of the 2009 ION Conference on Global Navigation Satellite Systems, Savannah 2009, ION, Sep 2009, Savannah, United States. pp.767-777. ⟨hal-00912064⟩

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